Robotic vacuum cleaner with dirt enclosing member and method of using the same

ABSTRACT

An autonomous surface cleaning apparatus has a dirt enclosing member providing a first closed container and a depositing member which deposits the closed container at a location that is exterior to the autonomous surface cleaning apparatus.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation-in-part of each of U.S. patent application Ser. No. 16/926,279 filed on Jul. 10, 2020; Ser. No. 16/926,314 filed on Jul. 10, 2020; Ser. No. 16/926,330 filed on Jul. 10, 2020 and Ser. No. 16/926,348 filed on Jul. 10, 2020, each of which claims the benefit of U.S. Patent Application No. 63/013,781, filed on Apr. 22, 2020, and this application also claims the benefit of U.S. Patent Application No. 63/013,781, filed on Apr. 22, 2020, the entirety of which is incorporated herein by reference.

FIELD

This disclosure relates generally to robotic surface cleaning apparatus and docking stations that receive dirt collected by a robotic surface cleaning apparatus.

INTRODUCTION

Various types of robotic or autonomous surface cleaning apparatus are known. A robotic vacuum cleaner may have a docking station that charges the robotic vacuum cleaner when the robotic vacuum cleaner is connected or docked to the docking station. Also, a docking station may have a suction motor to draw dirt from a dirt storage chamber in a robotic vacuum cleaner and an air treatment member to remove entrained dirt from the air drawn into the docking station for the dirt storage chamber of a robotic vacuum cleaner.

SUMMARY

This summary is intended to introduce the reader to the more detailed description that follows and not to limit or define any claimed or as yet unclaimed invention. One or more inventions may reside in any combination or sub-combination of the elements or process steps disclosed in any part of this document including its claims and figures.

In one aspect of this disclosure, which may be used by itself or with one or more of the other aspects disclosed herein, an autonomous surface cleaning apparatus is provided that has a dirt enclosing member that provides a closed container in which at least some of the dirt that is collected by an autonomous surface cleaning apparatus is positioned and a depositing member which deposits the closed container at a location exterior to the autonomous surface cleaning apparatus. The exterior location may be any location in a room, such as a corner of the room, a garbage can or the like. The collected dirt may be enclosed in the dirt container and stored in the autonomous surface cleaning apparatus for subsequent deposition by the depositing member. Alternately, or in addition, the collected dirt may be enclosed in the container as the autonomous surface cleaning apparatus deposits the closed container. An advantage of this design is that the structure of a docking station and the autonomous surface cleaning apparatus may be simplified since there is no need to align an evacuation port with the docking station. Further, the docking station need not include a suction motor or a filtration member. Furthermore, the battery life of the autonomous surface cleaning apparatus may be improved by reducing redundant motion of the autonomous surface cleaning apparatus since it does not need to return to a docking station to empty its dirt collection chamber.

In accordance with this broad aspect, there is provided an autonomous surface cleaning apparatus comprising:

-   -   a) an air flow path extending from a dirty air inlet to a clean         air outlet:     -   b) a suction motor positioned in the primary flow path;     -   c) an air treatment unit positioned in the air flow path, the         air treatment unit comprising a dirt collection region in which         dirt is collected;     -   d) a dirt enclosing member providing a first closed container in         which at least some of the dirt that is collected in the dirt         collection region is positioned; and,     -   e) a depositing member which deposits the closed container at a         location that is exterior to the autonomous surface cleaning         apparatus.

In any embodiment, the first closed container may be a flexible closed container.

In any embodiment, the dirt enclosing member may provide the first closed container and the depositing member may subsequently move the first closed container to the location that is exterior to the autonomous surface cleaning apparatus.

In any embodiment, the autonomous surface cleaning apparatus may have a storage region in which the autonomous surface cleaning apparatus stores the first closed container as the autonomous surface cleaning apparatus continues a cleaning operation.

In any embodiment, the storage region may be sized to receive a plurality of closed containers including the first closed container.

In any embodiment, the dirt enclosing member may provide the first closed container as the depositing member moves the first closed container to a location that is exterior to the autonomous surface cleaning apparatus.

In any embodiment, the dirt collection region may comprise a substrate which may be used to form the first closed container.

In any embodiment, the dirt enclosing member may form the first closed container from the substrate and the depositing member may subsequently move the first closed container to the location that is exterior to the autonomous surface cleaning apparatus.

In any embodiment, the dirt enclosing member may form the first closed container from the substrate as the depositing member moves the first closed container to the location that is exterior to the autonomous surface cleaning apparatus.

In another broad aspect of this disclosure, which may be used by itself or with one or more of the other aspects disclosed herein, there is provided a method of cleaning a floor with an autonomous surface cleaning apparatus that encloses dirt in a closed container and deposits the container at a location that is exterior to the autonomous surface cleaning apparatus. An advantage of this design is that the autonomous surface cleaning apparatus does not need to return to a docking station to expel collected dirt, thereby improving the efficiency of the cleaning operation and the battery life of the autonomous surface cleaning apparatus.

In accordance with this broad aspect, there is provided a method of cleaning a floor comprising:

-   -   a) having an autonomous surface cleaning apparatus clean at         least a portion of the floor;     -   b) collecting dirt in the autonomous surface cleaning apparatus     -   c) enclosing at least some of the dirt in a first closed         container and depositing the first closed container at a         location that is exterior to the autonomous surface cleaning         apparatus.

In any embodiment, the location may be a corner of a room.

In any embodiment, the location may be adjacent a garbage can.

In any embodiment, the first closed container may be deposited when the autonomous surface cleaning apparatus docks at a first docking station.

In any embodiment, a plurality of docking stations may be provided and the autonomous surface cleaning apparatus may deposit the first closed container when the autonomous surface cleaning apparatus docks at one of the docking stations.

In any embodiment, at least some of the dirt may be enclosed in the first closed container as the first closed container is deposited at a location that is exterior to the autonomous surface cleaning apparatus.

In any embodiment, at least some of the dirt may be enclosed in the first closed container and subsequently the first closed container may be deposited at a location that is exterior to the autonomous surface cleaning apparatus.

In any embodiment, the dirt may be collected in an open container and the open container is subsequently closed to form the first closed container.

In any embodiment, the open container may comprise a flexible substrate and an open end of the flexible substrate may be sealed to form the first closed container.

In any embodiment, step (c) may comprise enclosing at least some of the dirt in the first closed container and subsequently may have an autonomous surface cleaning apparatus clean at least a portion of the floor while the first closed container is stored in the autonomous surface cleaning apparatus and may subsequently deposit the first closed container at the location that is exterior to the autonomous surface cleaning apparatus.

In any embodiment, the method may further comprise enclosing additional collected dirt in a second closed container and depositing the second closed container at the location that is exterior to the autonomous surface cleaning apparatus.

In another broad aspect of this disclosure, which may be used by itself or with one or more of the other aspects disclosed herein, an autonomous surface cleaning apparatus may have a mechanical transfer member, which may be provided inside of the automated surface cleaning apparatus (which may also be referred to as a robotic surface cleaning apparatus, robotic vacuum cleaner, robot vac or the like), which is used to convey dirt that has been collected in the robotic surface cleaning apparatus to a docking station. The mechanical transfer member may comprise, for example, a ram for conveying dirt from an air treatment unit of the robotic surface cleaning apparatus into the docking station. The mechanical transfer member may be configurable between a floor cleaning position and one or more dirt emptying positions. In the floor cleaning position, the mechanical transfer member may be positioned at a first side and/or external to an air treatment unit of the robotic surface cleaning apparatus. As the mechanical transfer member is moved to the dirt emptying position, the mechanical transfer member may be moveable through at least a portion of the air treatment unit of the robotic surface cleaning apparatus such that dirt collected inside the air treatment unit is moved by the mechanical transfer member through at least a portion of the air treatment unit and towards the docking station. Optionally, the mechanical transfer member may move dirt out of a dirt outlet of the air treatment unit and/or into the docking station. An advantage of such a design is that the docking station need not have a suction motor or an air treatment member to filter dirt from the air drawn into the robotic docking station. It will be appreciated that such a mechanical transfer member may be used by itself (e.g., it may be the sole dirt transfer mechanism) or it may be used with any other mechanism disclosed herein or in use in the robotic docking station arts. For example, it may be used with a docking station that incorporates a suction fan to draw air through a dirt chamber of a robotic surface cleaning apparatus.

In accordance with this broad aspect, there is provided an autonomous surface cleaning apparatus comprising:

-   -   (a) a primary air flow path extending from a dirty air inlet to         a clean air outlet:     -   (b) a primary suction motor positioned in the primary air flow         path;     -   (c) an air treatment unit positioned in the primary air flow         path wherein, when the autonomous surface cleaning apparatus is         positioned on a floor, the air treatment unit has an upper side,         a lower side, a first end having a first side positioned between         the upper and lower sides and a second end having a second side         positioned between the upper and lower sides, the second side is         spaced apart from the first side in a first direction; and,     -   (d) a mechanical transfer member moveable in the first direction         through at least a portion of the air treatment unit whereby         dirt collected in the air treatment unit is moved in the first         direction through the air treatment unit.

In some embodiment, the first direction may be generally horizontal.

In some embodiments, a dirt outlet may be provided at the second end.

In some embodiments, the mechanical transfer member may be moveable in the first direction from the first side to the second side.

In some embodiments, the autonomous surface cleaning apparatus may have a dirt outlet which communicates with a docking station when the autonomous surface cleaning apparatus is docked at the docking station and the autonomous surface cleaning apparatus is operable in a floor cleaning mode and a dirt emptying mode, in the floor cleaning mode the mechanical transfer member may be positioned at the first side and in the dirt emptying mode the mechanical transfer member may be moveable in the first direction from the first side to the second side and through the dirt outlet.

In some embodiments, the first side may have a mechanical transfer member inlet port and, in the floor cleaning mode, the mechanical transfer member may be positioned exterior to the air treatment unit.

In some embodiments, the mechanical transfer member may comprise a sweeping portion and a drive portion and, in the floor cleaning mode, the sweeping portion may be positioned interior to the air treatment unit and the drive portion may be positioned exterior to the air treatment unit.

In some embodiments, the air treatment unit may comprise an air treatment member and a dirt collection chamber external to the air treatment member and the mechanical transfer member may be moveable in the first direction through at least a portion of the dirt collection chamber.

In some embodiments, the air treatment unit may comprise an air treatment member having a dirt collection region internal of the air treatment member and the mechanical transfer member may be moveable in the first direction through at least a portion of the dirt collection region.

In some embodiments, the mechanical transfer member may be moveable along a lower surface of the dirt collection region.

In some embodiments, the mechanical transfer mechanism may comprise a member that is moveable through the air treatment unit, whereby the mechanical transfer mechanism pushes dirt through the air treatment unit towards a dirt outlet port of the air treatment unit.

In some embodiments, the mechanical transfer mechanism may be moveable through the air treatment unit and the dirt outlet port, whereby the mechanical transfer mechanism pushes dirt through the air treatment unit and out the outlet port of the air treatment unit.

In some embodiments, the autonomous surface cleaning apparatus may further comprise a disposable bag retaining member and wherein the autonomous surface cleaning apparatus is operable in a floor cleaning mode and a dirt emptying mode, and in the dirt emptying mode the mechanical transfer member may be moveable in the first direction whereby dirt is transferred into a disposable bag.

In some embodiments, the autonomous surface cleaning apparatus may further comprise a navigation system and the autonomous surface cleaning apparatus may be operable to deposit the disposable bag containing the dirt in a predetermined location.

In some embodiments, the location may be adjacent a garbage receptacle.

In some embodiments, the autonomous surface cleaning apparatus may further comprise a pneumatic dirt transfer mechanism.

In some embodiments, the pneumatic dirt transfer mechanism may comprise the primary suction motor.

In some embodiments, the autonomous surface cleaning apparatus may further comprise a secondary air flow path selectively connectable in fluid flow communication with the primary suction motor, the secondary air flow path may extend between a downstream end of the primary suction motor and a dirt collection region of the air treatment unit.

In some embodiments, the first side may comprise a first side of the dirt collection region, the second side may comprise a second side of the dirt collection region, the mechanical transfer member may be moveable in the first direction from the first side of the dirt collection region towards the second side of the dirt collection region and the secondary air flow path may extend between a downstream end of the primary suction motor he first side of the dirt collection.

In some embodiments, the autonomous surface cleaning apparatus may further comprise a secondary air flow path in fluid flow communication with the dirt bin and the pneumatic dirt transfer mechanism may comprise a secondary suction motor provided in the secondary air flow path.

In another broad aspect of this disclosure, which may be used by itself or with one or more of the other aspects disclosed herein, a mechanical transfer member may be provided inside of a robotic docking station and used to convey dirt that has been collected inside a robotic surface cleaning apparatus into the robotic docking station. The mechanical transfer member may be moveable between a storage position and one or more dirt emptying positions. In the storage position, the mechanical transfer member may be stored on or inside of the docking station. In the dirt emptying positions, the mechanical transfer member may moveable from the docking station, through a dirt outlet of an air treatment unit of the robotic surface cleaning apparatus, through at least a portion of the air treatment unit, and then reversed back into the docking station so as to drag (e.g., pull) collected dirt out of the robot air treatment unit into the docking station. Optionally, the docking station may include a dirt receptacle for aggregating dirt removed from the robotic air treatment unit. An advantage of this design is again that the docking station need not have a suction motor or an air treatment member to filter dirt from the air drawn into the robotic docking station. It will be appreciated that this aspect may be combined with any other dirt transfer mechanism provided herein. It will be appreciated that such a mechanical transfer member may be used by itself (e.g., it may be the sole dirt transfer mechanism) or it may be used with any other mechanism disclosed herein or in use in the robotic docking station arts. For example, it may be used with a docking station that incorporates a suction fan to draw air through a dirt chamber of a robotic surface cleaning apparatus.

In accordance with this broad aspect, there is provided an apparatus comprising a docking station and an autonomous surface cleaning apparatus wherein, the autonomous surface cleaning apparatus comprises:

-   -   (a) a primary air flow patent extending from a dirty air inlet         to a clean air outlet:     -   (b) a primary suction motor positioned in the primary air flow         path; and     -   (c) an air treatment unit positioned in the primary air flow         path, the air treatment unit comprising a dirt collection         region;     -   and wherein the docking station comprises a dirt receptacle and         a mechanical dirt transfer mechanism operable to transfer dirt         that has collected in the dirt collection region from the dirt         collection region to the dirt receptacle.

In some embodiments, the autonomous surface cleaning apparatus may be positioned on a floor, the air treatment unit may have an upper side, a lower side, a first end having a first side positioned between the upper and lower sides and a second end having a second side positioned between the upper and lower sides, the second side is spaced apart from the first side in a first direction and, the mechanical transfer member may be moveable in the first direction through at least a portion of the air treatment unit whereby dirt collected in the air treatment unit is moved in the first direction through the air treatment unit.

In some embodiments, the autonomous surface cleaning apparatus may be positioned on a floor, the air treatment unit may have an upper side, a lower side, a first end having a first side positioned between the upper and lower sides and a second end having a second side positioned between the upper and lower sides, the second side is spaced apart from the first side in a first direction, the second side has a dirt outlet and, in a dirt emptying mode, the mechanical transfer member may be moveable through the dirt outlet towards the first side and then moveable in the first direction back through the dirt outlet.

In some embodiments, the mechanical transfer member may comprise a sweeping portion and a drive portion, the sweeping portion may be reconfigurable between an insertion position in which the sweeping portion is positioned above the lower side and a sweeping position in which the sweeping portion extends downwardly from the drive portion.

In some embodiments, the autonomous surface cleaning apparatus may have a robot bin door which closes the dirt outlet and the mechanical dirt transfer mechanism may open the robot bin door when the mechanical dirt transfer mechanism is actuated.

In some embodiments, the docking station may have an openable door which closes a dirt inlet of the dirt receptacle and the mechanical dirt transfer mechanism may open the openable door when the mechanical dirt transfer mechanism is actuated.

In some embodiments, the autonomous surface cleaning apparatus may have a robot bin door which closes the dirt outlet and the mechanical dirt transfer mechanism may open the robot bin door when the mechanical dirt transfer mechanism is actuated.

In some embodiments, the autonomous surface cleaning apparatus may have a robot bin door which closes the dirt outlet and the robot bin door may be opened when the autonomous surface cleaning apparatus docks at the docking station.

In some embodiments, the docking station may have an openable door which closes a dirt inlet of the dirt receptacle and the openable door may be opened when the autonomous surface cleaning apparatus docks at the docking station.

In some embodiments, the autonomous surface cleaning apparatus may have a robot bin door which closes the dirt outlet and the robot bin door may be opened when the autonomous surface cleaning apparatus docks at the docking station.

In some embodiments, the autonomous surface cleaning apparatus may have a robot bin door which closes the dirt outlet and the robot bin door may be opened when an emptying mode of the autonomous surface cleaning apparatus is actuated.

In some embodiments, the docking station may have an openable door which closes a dirt inlet of the dirt receptacle and the openable door may be opened when an emptying mode of the autonomous surface cleaning apparatus is actuated.

In some embodiments, the autonomous surface cleaning apparatus may have a robot bin door which closes the dirt outlet and the robot bin door may opened when an emptying mode of the autonomous surface cleaning apparatus is actuated.

In some embodiments, the apparatus may further comprise a pneumatic dirt transfer mechanism.

In some embodiments, the autonomous surface cleaning apparatus may have the pneumatic dirt transfer mechanism.

In some embodiments, the mechanical dirt transfer mechanism may be exterior to the dirt receptacle.

In accordance with another aspect, which may be used by itself or with one or more of the other aspects disclosed herein, a pneumatic dirt transfer mechanism may be provided inside of a robotic surface cleaning apparatus and operable in a dirt emptying mode to convey dirt that has been collected inside the robotic surface cleaning apparatus to a docking station. In some cases, the pneumatic dirt transfer mechanism may comprise the primary suction motor of the robotic surface cleaning apparatus. The suction motor may be operable between a floor cleaning mode and a dirt emptying mode. In the floor cleaning mode, the suction motor may be used to generate a suction air flow to facilitate cleaning and/or sweeping of dirt of a surface. The airflow generated by the suction motor may travel through a primary air flow path extending from a dirty air inlet of the robotic surface cleaning apparatus to a clean air outlet of the robotic surface cleaning apparatus. In the dirt emptying mode, the exhaust air flow, from the outlet of the suction motor of the robotic surface cleaning apparatus to the clean air outlet may be reconfigured, such as by a valve, to flow along a secondary air flow path to direct the exhaust air through part or all of the dirt storage chamber or dirt bin of the robotic surface cleaning apparatus and into the docking station.

Alternatively, or in addition, in the dirt emptying mode, the direction of rotation of an internal fan blade, of the suction motor, may be reversed such that the inlet of the suction motor becomes a suction motor air outlet. In this configuration, in the dirt emptying mode, air may be directed, such as via a secondary air flow path back through a dirt storage chamber or dirt bin of the robotic surface cleaning apparatus, and into the docking station.

Alternatively, or in addition, the pneumatic transfer mechanism can comprise a secondary suction motor provided with the robotic surface cleaning apparatus, which is separate from the primary suction motor of the robotic surface cleaning apparatus used in the floor cleaning mode. The secondary suction motor may be positioned in a secondary air flow path which extends between an air inlet and a dirt storage chamber or dirt bin of the robotic surface cleaning apparatus. The secondary suction motor may be operated in a dirt emptying mode to push collected dirt in a dirt storage chamber or dirt bin of the robotic vacuum cleaner into a docking station.

In any such embodiment, the primary suction motor of the robotic surface cleaning apparatus, and/or the secondary suction motor, as the case may be, may be operated at a different, e.g., reduced, power level when conveying or assisting in conveying dirt from the dirt storage chamber of a robotic surface cleaning apparatus into a docking station, during operation in the dirt emptying mode, compared to the power level of the primary suction motor when the robotic surface cleaning apparatus operates in a floor cleaning mode. An advantage of such a design is that the docking station need not have a suction motor.

It will be appreciated that such a pneumatic transfer member may be used by itself (e.g., it may be the sole dirt transfer mechanism) or it may be used with any other mechanism disclosed herein or in use in the robotic docking station arts. For example this aspect may be combined with mechanically conveying dirt from the dirt storage chamber of a robotic surface cleaning apparatus into a docking station and/or it may be used with a docking station that incorporates a suction fan to draw air through a dirt chamber of a robotic surface cleaning apparatus.

In accordance with this broad aspect, there is provided an autonomous surface cleaning apparatus comprising:

-   -   (a) a primary air flow path extending from a dirty air inlet to         a clean air outlet:     -   (b) a primary suction motor positioned in the primary air flow         path;     -   (c) an air treatment unit positioned in the primary air flow         path, the air treatment unit comprising a dirt collection region         wherein, when the autonomous surface cleaning apparatus is         positioned on a floor, the dirt collection region has an upper         side, a lower side, a first end having a first side positioned         between the upper and lower sides and a second end having a         second side positioned between the upper and lower sides, the         second side is spaced apart from the first side in a first         direction, the first side has a dirt collection region air inlet         port and the second side has a dirt outlet; and,     -   (d) a pneumatic dirt transfer member is operable in a dirt         emptying mode to produce an air flow which enters the dirt         collection region through the dirt collection region air inlet         port and whereby dirt collected in the dirt collection region is         moved in the first direction through the dirt outlet.

In some embodiments, the pneumatic dirt transfer mechanism may comprise the primary suction motor.

In some embodiments, a secondary air flow path may be selectively connectable in fluid flow communication with the primary suction motor, the secondary air flow path may extend between a downstream end of the primary suction motor and the dirt collection region air inlet port.

In some embodiments, the autonomous surface cleaning apparatus may be operable in a floor cleaning mode and a dirt emptying mode, in the floor cleaning mode, air may travel through the primary air flow path and in the dirt emptying mode, the secondary air flow path may be connected in fluid flow communication with the primary suction motor and air may travel from the primary suction motor to the dirt collection region air inlet port and exit the dirt collection region through the dirt outlet.

In some embodiments, the dirt outlet which communicates with a docking station when the autonomous surface cleaning apparatus is docked at the docking station and in the dirt emptying mode, the air may travel from the primary suction motor to the dirt collection region air inlet port, through the dirt collection region, through the dirt outlet, through a dirt inlet of the docking station and out a clean air outlet of the docking station.

In some embodiments, the autonomous surface cleaning apparatus may be operable in a floor cleaning mode and a dirt emptying mode, in the floor cleaning mode air may travel through the primary air flow path and in the dirt emptying mode air may travel through the secondary air flow path, and the autonomous surface cleaning apparatus may further comprise a valve operable between a floor cleaning position in which the primary suction motor is in fluid flow communication with the clean air outlet and a dirt emptying position in which the primary suction motor is in fluid flow communication with the dirt collection region air inlet.

In some embodiments, the pneumatic dirt transfer mechanism may comprise a secondary suction motor provided in a secondary air flow path, wherein the autonomous surface cleaning apparatus may be operable in a floor cleaning mode and a dirt emptying mode, in the floor cleaning mode, air may travel through the primary air flow path and in the dirt emptying mode the secondary air flow path may be in fluid flow communication with the dirt collection region.

In some embodiments, the dirt collection region may have an air outlet and a portion of the primary air flow path may extend from the air outlet of the dirt collection region to the clean air outlet and, in the dirt emptying mode the portion of the primary air flow path may be closed.

In some embodiments, the dirt collection region may have a dirt inlet and a first portion of the primary air flow path may extend from the dirty air inlet to the dirt inlet of the dirt collection region and, in the dirt emptying mode the portion of the primary air flow path may be closed.

In some embodiments, the dirt collection region may have an air outlet and a second portion of the primary air flow path may extend from the air outlet of the dirt collection region to the clean air outlet and, in the dirt emptying mode the second portion of the primary air flow path may be closed.

In accordance with this broad aspect, there is also provided an autonomous surface cleaning apparatus comprising:

-   -   (a) a primary air flow path extending from a dirty air inlet to         a clean air outlet:     -   (b) a primary suction motor positioned in the primary air flow         path;     -   (c) an air treatment unit positioned in the primary air flow         path, the air treatment unit comprising a dirt collection region         having a dirt inlet, a dirt collection region air inlet port and         a dirt outlet; and,     -   (d) a secondary air flow path extending from a secondary air         flow path air inlet to the dirt outlet of the dirt collection         region;     -   (e) a secondary suction motor positioned in the secondary air         flow path,         wherein the autonomous surface cleaning apparatus is operable in         a floor cleaning mode and a dirt emptying mode, in the floor         cleaning mode, air travels through the primary air flow path and         in the dirt emptying mode the secondary air flow path is in         fluid flow communication with the dirt collection region whereby         air enters the dirt collection region through the dirt         collection region air inlet and dirt collected in the dirt         collection region is moved through the dirt outlet.

In some embodiments, the secondary suction motor may draw air through the dirt collection region air inlet into the dirt collection region and out the dirt outlet.

In some embodiments, the secondary suction motor may blow air through the dirt collection region air inlet into the dirt collection region and out the dirt outlet.

In some embodiments, the dirt collection region may have a primary air flow path air outlet and, in the floor cleaning mode, air may travel through a first portion of the primary air flow path extending from the dirty air inlet to the dirt inlet of the dirt collection region and through a second portion of the primary air flow path extending from the primary air flow path air outlet to the clean air outlet.

In some embodiments, in the dirt emptying mode, at least one of the first and second portions may be closed.

In some embodiments, in the dirt emptying mode, each of the first and second portions may be closed.

In some embodiments, in the floor cleaning mode, the secondary air flow path may be closed.

In accordance with this broad aspect, there is also provided, an autonomous surface cleaning apparatus comprising:

-   -   (a) a primary air flow path extending from a dirty air inlet to         a clean air outlet:     -   (b) a suction motor positioned in the primary air flow path;     -   (c) an air treatment unit positioned in the primary air flow         path, the air treatment unit comprising a dirt collection region         having a dirt inlet, a dirt collection region air inlet port and         a dirt outlet; and,     -   (d) a secondary air flow path extending from the suction motor         to the dirt outlet of the dirt collection region;         wherein the autonomous surface cleaning apparatus is operable in         a floor cleaning mode and a dirt emptying mode, in the floor         cleaning mode, the suction motor drives a fan blade in a first         direction of rotation and air travels through the primary air         flow path and, in the dirt emptying mode, the suction motor         drives a fan blade in a second direction of rotation whereby air         enters the dirt collection region through the dirt collection         region air inlet and dirt collected in the dirt collection         region is moved through the dirt outlet.

In accordance with another aspect, which may be used by itself or with one or more of the other aspects disclosed herein, a pneumatic dirt transfer mechanism may be provided inside a robotic docking station and operable in a dirt emptying mode to direct air to the robotic surface cleaning apparatus to thereby convey dirt that has been collected inside the robotic surface cleaning apparatus to the docking station. The pneumatic dirt transfer mechanism may comprise a suction motor provided on or inside of the docking station and an air flow path extending between a downstream end of the docking station suction motor and the dirt collection region of the autonomous surface cleaning apparatus, when the autonomous cleaning apparatus is docked at the docking station. In a dirt emptying mode, the docking station suction motor may direct air into the autonomous surface cleaning apparatus so as to transfer dirt that has collected inside the dirt collection region to a dirt receptacle of the docking station. An advantage of such a design is that by providing the pneumatic dirt transfer mechanism inside the docking station, a dirt transfer mechanism is not required to be provided inside of the robotic vacuum cleaner. This, in turn, may simplify the design of the robotic vacuum cleaner. Further, directing air through the dirt chamber of a robotic surface cleaning apparatus may more completely empty the dirt chamber.

It will be appreciated that such a pneumatic transfer member may be used by itself (e.g., it may be the sole dirt transfer mechanism) or it may be used with any other mechanism disclosed herein or in use in the robotic docking station arts. For example, it may be used with a dirt transfer mechanism provided inside the robotic vacuum cleaner to provide more efficient dirt transfer between the robotic vacuum cleaner and the docking station. The pneumatic transfer mechanism may also be provided at a connection interface of the docking station.

In accordance with this broad aspect, there is provided an apparatus comprising a docking station having a dirt receptacle and an autonomous surface cleaning apparatus, wherein the autonomous surface cleaning apparatus comprises:

-   -   (a) a primary air flow path extending from a dirty air inlet to         a clean air outlet:     -   (b) a primary suction motor positioned in the primary air flow         path; and     -   (c) an air treatment unit positioned in the primary air flow         path, the air treatment unit comprising a dirt collection         region;         wherein the apparatus comprises a pneumatic dirt transfer         mechanism comprising a secondary air flow path and a secondary         suction motor provided in the secondary air flow path, and         wherein the secondary air flow path extends between a downstream         end of the secondary suction motor and the dirt collection         region of the autonomous surface cleaning apparatus whereby in a         dirt emptying mode the secondary suction motor directs air into         the autonomous surface cleaning apparatus so as to transfer dirt         that has collected in the dirt collection region from the dirt         collection region to the dirt receptacle, and         wherein a portion of the pneumatic dirt transfer mechanism is         provided in the docking station.

In some embodiments, the secondary suction motor may be provided in the docking station.

In some embodiments, the secondary suction motor may be provided in the autonomous surface cleaning apparatus.

In some embodiments, the docking station may have a secondary air flow path air outlet port and the autonomous surface cleaning apparatus may have a secondary air flow path air inlet port which mates with the secondary air flow path air outlet port of the docking station when the autonomous surface cleaning apparatus docks at the docking station.

In some embodiments, the secondary suction motor may draw from the dirt collection region.

In some embodiments, the secondary suction motor may blow into the dirt collection region.

In some embodiments, the autonomous surface cleaning apparatus may be positioned on a floor, the dirt collection region may have an upper side, a lower side, a first end having a first side positioned between the upper and lower sides and a second end having a second side positioned between the upper and lower sides, the second side is spaced apart from the first side in a first direction, the first side has a dirt collection region air inlet port and the second side has a dirt outlet and wherein, in the dirt emptying mode, the secondary suction motor may produce an air flow that enters the dirt collection region through the dirt collection region air inlet port and exits through the dirt outlet.

In some embodiments, the dirt collection region may have an air outlet and a portion of the primary air flow path my extend from the air outlet of the dirt collection region to the clean air outlet and, in the dirt emptying mode the portion of the primary air flow path may be closed.

In some embodiments, the dirt collection region may have a dirt inlet and a first portion of the primary air flow path may extend from the dirty air inlet to the dirt inlet of the dirt collection region and, in the dirt emptying mode the portion of the primary air flow path may be closed.

In some embodiments, the dirt collection region may have an air outlet and a second portion of the primary air flow path may extend from the air outlet of the dirt collection region to the clean air outlet and, in the dirt emptying mode the second portion of the primary air flow path may be closed.

In accordance with this broad aspect, there is also provided an apparatus comprising a docking station having a dirt receptacle and an autonomous surface cleaning apparatus, wherein the autonomous surface cleaning apparatus comprises:

-   -   (a) a primary air flow path extending from a dirty air inlet to         a clean air outlet:     -   (b) a primary suction motor positioned in the primary air flow         path; and     -   (c) an air treatment unit positioned in the primary air flow         path, the air treatment unit comprising a dirt collection region         wherein, when the autonomous surface cleaning apparatus is         positioned on a floor, the dirt collection region has an upper         side, a lower side, a first end having a first side positioned         between the upper and lower sides and a second end having a         second side positioned between the upper and lower sides, the         second side is spaced apart from the first side in a first         direction, the first side has a dirt collection region air inlet         port and the second side has a dirt outlet, and         wherein the apparatus comprises a pneumatic dirt transfer         mechanism comprising a secondary air flow path, and the         secondary air flow path comprises a portion that extends in a         downstream direction from the docking station to the dirt         collection region, and wherein, in the dirt emptying mode, air         travels through the secondary air flow path and enters the dirt         collection region through the dirt collection region air inlet         port and exits through the dirt outlet.

In some embodiments, the apparatus may further comprise a secondary suction motor.

In some embodiments, the secondary suction motor may be provided in the docking station.

In some embodiments, the dirt collection region may have an air outlet and a portion of the primary air flow path may extend from the air outlet of the dirt collection region to the clean air outlet and, in the dirt emptying mode the portion of the primary air flow path may be closed.

In some embodiments, the dirt collection region may have a dirt inlet and a first portion of the primary air flow path may extend from the dirty air inlet to the dirt inlet of the dirt collection region and, in the dirt emptying mode the portion of the primary air flow path may be closed.

In some embodiments, the dirt collection region may have an air outlet and a second portion of the primary air flow path may extend from the air outlet of the dirt collection region to the clean air outlet and, in the dirt emptying mode the second portion of the primary air flow path may be closed.

In accordance with this broad aspect, there is also provided an apparatus comprising a docking station having a dirt receptacle and an autonomous surface cleaning apparatus, wherein the autonomous surface cleaning apparatus comprises:

-   -   (a) a primary air flow path extending from a dirty air inlet to         a clean air outlet:     -   (b) a suction motor positioned in the primary air flow path; and     -   (c) an air treatment unit positioned in the primary air flow         path, the air treatment unit comprising a dirt collection         region,         wherein the apparatus comprises a pneumatic dirt transfer         mechanism comprising a secondary air flow path that comprises a         first portion that extends between the dirt receptacle and the         suction motor and a second portion that extends between the         suction motor and the dirt collection region of the autonomous         surface cleaning apparatus whereby in a dirt emptying mode the         suction motor draws air from the dirt receptacle to the suction         motor and directs air into the dirt collection region of the         autonomous surface cleaning apparatus whereby dirt that has         collected in the dirt collection region is transferred from the         dirt collection region to the dirt receptacle.

In some embodiments, the dirt collection region may have an air outlet and a portion of the primary air flow path may extend from the air outlet of the dirt collection region to the clean air outlet and, in the dirt emptying mode the portion of the primary air flow path may be closed.

In some embodiments, the dirt collection region may have a dirt inlet and a first portion of the primary air flow path may extend from the dirty air inlet to the dirt inlet of the dirt collection region and, in the dirt emptying mode the portion of the primary air flow path may be closed.

In some embodiments, the dirt collection region may have an air outlet and a second portion of the primary air flow path may extend from the air outlet of the dirt collection region to the clean air outlet and, in the dirt emptying mode the second portion of the primary air flow path may be closed.

It will be appreciated by a person skilled in the art that an apparatus or method disclosed herein may embody any one or more of the features contained herein and that the features may be used in any particular combination or sub-combination.

These and other aspects and features of various embodiments will be described in greater detail below.

BRIEF DESCRIPTION OF THE DRAWINGS

For a better understanding of the described embodiments and to show more clearly how they may be carried into effect, reference will now be made, by way of example, to the accompanying drawings in which:

FIG. 1 is a perspective view of a robotic vacuum cleaner docked at a docking station;

FIG. 2 is a perspective view of the robotic vacuum cleaner of FIG. 1;

FIG. 3 is a cross-sectional view of the robotic vacuum cleaner of FIG. 1, taken along the section line 3-3′ of FIG. 2;

FIG. 4A is a simplified representation of the cross-sectional view of FIG. 3, according to some embodiments;

FIG. 4B is a simplified representation of the cross-sectional view of FIG. 3, and showing a dirt bin of the robotic vacuum cleaner removed from the robotic vacuum cleaner housing;

FIG. 4C is a perspective top-front view of the removable dirt bin of FIG. 4B;

FIG. 4D is a perspective rear-bottom view of the removable dirt bin of FIG. 4B;

FIG. 5A is a perspective view of a robotic vacuum cleaner docked at a docking station, and showing a top openable lid of the docking station in an opened position;

FIG. 5B is a perspective view of the robotic vacuum cleaner docked at a docking station, and showing a dirt receptacle being removed from the docking station;

FIG. 5C is a perspective view of the robotic vacuum cleaner docked at the docking station, in accordance with an alternate embodiment;

FIG. 6A is a side cross-sectional view of the robotic vacuum cleaner and docking station of FIG. 5C, taken along the section line 6-6′ of FIG. 5C, and showing both the docking station door and the robotic vacuum cleaner dirt bin door in a closed position;

FIG. 6B is a side cross-sectional view of the robotic vacuum cleaner and docking station of FIG. 6A, and showing both the docking station door and the robotic vacuum cleaner dirt bin door in an open position;

FIG. 6C is a side cross-sectional view of an alternate embodiment of the robotic vacuum cleaner and docking station of FIG. 6A, taken along the section line 6-6′ of FIG. 5C, showing the dirt receptacle door and the robotic vacuum cleaner dirt bin door in an open position;

FIG. 7A is a side cross-sectional view, taken along section line 7-7′ of FIG. 5C, of the robotic vacuum cleaner un-docked from the docking station, and showing the robot dirt bin door and the docking station door in a closed position, in accordance with a further alternate embodiment;

FIG. 7B is a side cross-sectional view of the robotic vacuum cleaner docked at the docking station, and showing the robot dirt bin door and the docking station door in an open position;

FIG. 7C is a perspective view of the door opening mechanism for the robot dirt bin door of FIG. 7A;

FIG. 8A is a side cross-sectional view, taken along section line 7-7′ of FIG. 5C, of the robotic vacuum cleaner docked at the docking station, and showing the robot dirt bin door and docking station door in an open position, in accordance with another embodiment;

FIG. 8B is a perspective view of the door opening mechanism for the robot dirt bin door of FIG. 8A;

FIG. 9A is a side cross-sectional view, taken along section line 7-7′ of FIG. 5C, of the robotic vacuum cleaner docked at the docking station, and showing the robot dirt bin door and docking station door in an open position, in accordance with a further alternate embodiment;

FIG. 9B is a perspective view of the door opening mechanism for the robot dirt bin door of FIG. 9A;

FIG. 10A is a side cross-sectional view of the robotic vacuum cleaner, taken along sectional line 10-10′ of FIG. 5C, and showing a mechanical dirt transfer mechanism in a floor cleaning or storage position, in accordance with a further alternate embodiment;

FIG. 10B is a side cross-sectional view of the robotic vacuum cleaner in FIG. 10A docked at a docking station, taken along sectional line 10-10′ of FIG. 5C, and showing the mechanical dirt transfer mechanism in a dirt emptying position;

FIG. 10C is a side cross-sectional view of the robotic vacuum cleaner and docking station of FIG. 10B, and showing the mechanical dirt transfer mechanism in a further dirty emptying position;

FIG. 11A is a perspective view of a robot dirt bin in the robotic vacuum cleaner of FIG. 10A, and showing the mechanical dirt transfer mechanism in the storage or floor cleaning position, in accordance with a further alternate embodiment;

FIG. 11B is a perspective view of the robot dirt bin of FIG. 11A, and showing the mechanical dirt transfer mechanism in a dirt emptying position;

FIG. 11C is a perspective view of a robot dirt bin of FIG. 11A, and showing the mechanical dirt transfer mechanism in a further dirt emptying position;

FIG. 11D is a perspective view of an example mechanical transfer member;

FIG. 12A is a side cross-sectional view of the robotic vacuum cleaner, taken along sectional line 10-10′ of FIG. 5C, and showing the mechanical dirt transfer mechanism in a storage or floor cleaning position, in accordance with a further alternate embodiment;

FIG. 12B is a side cross-sectional view of the robotic vacuum cleaner of FIG. 12A, docked at a docking station, and showing the mechanical dirt transfer mechanism in a dirt emptying position;

FIG. 12C is a perspective view of a mechanical actuation mechanism used in the robotic vacuum cleaner of FIGS. 12A and 12B;

FIG. 13A is a side cross-sectional view of the robotic vacuum cleaner, taken along sectional line 10-10′ of FIG. 5C, and showing a mechanical dirt transfer mechanism in a storage or floor cleaning position, in accordance with a further alternate embodiment;

FIG. 13B is a side cross-sectional view of the robotic vacuum cleaner of FIG. 13A, docked at a docking station, and showing the mechanical dirt transfer mechanism in dirt emptying position;

FIG. 13C is a perspective view of a mechanical actuation mechanism used in the robotic vacuum cleaner of FIGS. 13A and 13B;

FIG. 14A is a side cross-sectional view of the robotic vacuum cleaner, taken along sectional line 10-10′ of FIG. 5C, and showing a mechanical dirt transfer mechanism in a storage or floor cleaning position, in accordance with a further alternate embodiment;

FIG. 14B is a side cross-sectional view of the robotic vacuum cleaner of FIG. 14A, docked at a docking station, and showing the mechanical dirt transfer mechanism in a dirt emptying position;

FIG. 15A is a side cross-sectional view of a robotic vacuum cleaner docked at a docking station, taken along sectional line 10-10′ of FIG. 5C, and showing a mechanical dirt transfer mechanism located inside the docking station in a storage position;

FIG. 15B illustrates the side cross-sectional view of FIG. 15A, and showing the mechanical dirt transfer mechanism in a dirt emptying position;

FIG. 15C illustrates the side cross-sectional view of FIG. 15A, and showing the mechanical dirt transfer mechanism in a further dirt emptied position;

FIG. 15D illustrates the side cross-sectional view of FIG. 15A, and showing the mechanical dirt transfer mechanism in a partially retracted dirt emptying position;

FIG. 15E illustrates the side cross-sectional view of FIG. 15A, and showing the mechanical dirt transfer mechanism in a further retracted dirt emptying position;

FIG. 16A is a perspective view of a foldable sweeper in an insertion position;

FIG. 16B is a perspective view of the foldable sweeper in a sweeping position;

FIG. 17A is a side cross-sectional view of an alternate embodiment of a robotic vacuum cleaner, taken along sectional line 10-10′ of FIG. 5C, and showing a suction motor in a floor cleaning mode;

FIG. 17B is a side cross-sectional view, taken along sectional line 10-10′ of FIG. 5C, of the robotic vacuum cleaner of FIG. 17A, docked at a docking station, and showing the suction motor in a dirt emptying mode;

FIG. 17C is a perspective view of a butterfly valve in an open position;

FIG. 17D is a perspective view of the butterfly valve of FIG. 17C in a closed position;

FIG. 18A is a side cross-sectional view of a robotic vacuum cleaner, taken along sectional line 10-10′ of FIG. 5C, showing a suction motor of the robotic vacuum cleaner operating in a floor cleaning mode, in accordance with an alternate embodiment;

FIG. 18B is a side cross-sectional view of the robotic vacuum cleaner of FIG. 18A, docked at a docking station, and showing the suction motor operating in a dirt emptying mode;

FIG. 19A is a side cross-sectional view of a robotic vacuum cleaner, taken along sectional line 10-10′ of FIG. 5C, in accordance with a further alternate embodiment, and showing a suction motor of the robotic vacuum cleaner operating in a floor cleaning mode;

FIG. 19B is a side cross-sectional view of a robotic vacuum cleaner of FIG. 19A, docked at a docking station, taken along sectional line 10-10′ of FIG. 5C, and showing the suction motor operating in a dirt emptying mode;

FIG. 19C is a top-side perspective view of the robotic vacuum cleaner and docking station of FIG. 19B;

FIG. 20A is a side cross-sectional view of a robotic vacuum cleaner docked at a docking station, taken along sectional line 10-10′ of FIG. 5C, and showing a secondary suction motor located inside of the robotic vacuum cleaner and being operated in a dirt emptying mode, in accordance with a further alternate embodiment;

FIG. 20B is a side cross-sectional view of a robotic vacuum cleaner docked at a docking station, taken along sectional line 10-10′ of FIG. 5C, and showing a secondary suction motor located inside of the robotic vacuum cleaner and being operated in a dirt emptying mode, in accordance with a further alternate embodiment;

FIG. 21A is a side cross-sectional view of a robotic vacuum cleaner, taken along sectional line 10-10′ of FIG. 5C, in accordance with a further alternate embodiment;

FIG. 21B is a side cross-sectional view of the robotic vacuum cleaner of FIG. 21A, docked at a docking station, and showing a suction motor provided inside the docking station being operated in a dirt emptying mode;

FIG. 22A is a side cross-sectional view of an un-docked robotic vacuum cleaner and docking station, taken along sectional line 10-10′ of FIG. 5C, and showing the robotic vacuum cleaner being operated in a floor cleaning mode, according to a further alternate embodiment;

FIG. 22B is a side cross-sectional view of the robotic vacuum cleaner and docking station of FIG. 22A, and showing the robotic vacuum cleaner docked at the docking station, and a suction motor provided inside the docking station being operated in a dirt emptying mode;

FIG. 23 is a side cross-sectional view of a robotic vacuum cleaner docked at a docking station, taken along sectional line 10-10′ of FIG. 5C, and showing a suction motor provided inside the docking station being operated in a dirt emptying mode, according to a further alternate embodiment;

FIG. 24A is a side cross-sectional view of a robotic vacuum cleaner docked at a docking station, taken along sectional line 10-10′ of FIG. 5C, and showing a suction motor provided inside of a connection interface and being operated in a dirt emptying mode, according to a further alternate embodiment;

FIG. 24B is a side cross-sectional view of the robotic vacuum cleaner and docking station of FIG. 24A, and showing the robotic vacuum cleaner un-docking from the docking station and the suction motor provided inside of the connection interface being operated in a dust absorption mode;

FIG. 25 is a side cross-sectional view of a robotic vacuum cleaner docked at a docking station, taken along sectional line 10-10′ of FIG. 5C, and showing a suction motor provided inside of a connection interface being operated in a dirt emptying mode, according to a further alternate embodiment;

FIG. 26 is a side cross-sectional view of a robotic vacuum cleaner docked at a docking station, taken along sectional line 10-10′ of FIG. 5C, and showing a suction motor provided inside of a connection interface being operated in a dirt emptying mode, according to a further alternate embodiment;

FIG. 27 is a side cross-sectional view of a robotic vacuum cleaner docked at a docking station, taken along sectional line 10-10′ of FIG. 5C, and showing a suction motor provided inside of a connection interface being operated in a dirt emptying mode, according to a further alternate embodiment;

FIG. 28 is a side cross-sectional view of a robotic vacuum cleaner docked at a docking station, taken along sectional line 10-10′ of FIG. 5C, and showing a suction motor provided inside of a connection interface being operated in a dirt emptying mode, according to a further alternate embodiment;

FIG. 29A is a side cross-sectional view of a robotic vacuum cleaner and docking station, taken along sectional line 10-10′ of FIG. 5C, showing the robotic vacuum cleaner un-docked from the docking station and operating in a floor cleaning mode, according to a further alternate embodiment;

FIG. 29B is a side cross-sectional view of the robotic vacuum cleaner and docking station of FIG. 29A, and showing the robotic vacuum cleaner docked at the docking station and a suction motor provided inside of a connection interface being operated in a dirt emptying mode;

FIGS. 30-32 are cross-sectional schematic views of an exemplary embodiment of an autonomous surface cleaning apparatus in various stages of forming a closed container in which dirt is positioned;

FIG. 33 is a cross-sectional schematic view of another exemplary embodiment autonomous surface cleaning apparatus with a closed container being formed as the closed container is deposited with a depositing member;

FIG. 34 is a cross-sectional schematic view of another exemplary embodiment autonomous surface cleaning apparatus with a dirt collection region including a substrate for forming a closed container;

FIG. 35 is a cross-sectional schematic view of another exemplary embodiment autonomous surface cleaning apparatus with a depositing member positioned within a dirt collection region;

FIG. 36 is an exemplary flow chart of a method of cleaning a floor with an autonomous surface cleaning apparatus; and,

FIG. 37 is a top view of a room that is to be cleaned by an autonomous surface cleaning apparatus.

The drawings included herewith are for illustrating various examples of articles, methods, and apparatuses of the teaching of the present specification and are not intended to limit the scope of what is taught in any way.

DESCRIPTION OF VARIOUS EMBODIMENTS

Various apparatuses or processes will be described below to provide an example of an embodiment of each claimed invention. No embodiment described below limits any claimed invention and any claimed invention may cover processes or apparatuses that differ from those described below. The claimed inventions are not limited to apparatuses or processes having all of the features of any one apparatus or process described below or to features common to multiple or all of the apparatuses described below. It is possible that an apparatus or process described below is not an embodiment of any claimed invention. Any invention disclosed in an apparatus or process described below that is not claimed in this document may be the subject matter of another protective instrument, for example, a continuing patent application, and the applicants, inventors or owners do not intend to abandon, disclaim or dedicate to the public any such invention by its disclosure in this document.

The terms “an embodiment,” “embodiment,” “embodiments,” “the embodiment,” “the embodiments,” “one or more embodiments,” “some embodiments,” and “one embodiment” mean “one or more (but not all) embodiments of the present invention(s),” unless expressly specified otherwise.

The terms “including,” “comprising” and variations thereof mean “including but not limited to,” unless expressly specified otherwise. A listing of items does not imply that any or all of the items are mutually exclusive, unless expressly specified otherwise. The terms “a,” “an” and “the” mean “one or more,” unless expressly specified otherwise.

As used herein and in the claims, two or more parts are said to be “coupled”, “connected”, “attached”, or “fastened” where the parts are joined or operate together either directly or indirectly (i.e., through one or more intermediate parts), so long as a link occurs. As used herein and in the claims, two or more parts are said to be “directly coupled”, “directly connected”, “directly attached”, or “directly fastened” where the parts are connected in physical contact with each other. As used herein, two or more parts are said to be “rigidly coupled”, “rigidly connected”, “rigidly attached”, or “rigidly fastened” where the parts are coupled so as to move as one while maintaining a constant orientation relative to each other. None of the terms “coupled”, “connected”, “attached”, and “fastened” distinguish the manner in which two or more parts are joined together.

Some elements herein may be identified by a part number, which is composed of a base number followed by an alphabetical or subscript-numerical suffix (e.g. 112 a, or 112 ₁). Multiple elements herein may be identified by part numbers that share a base number in common and that differ by their suffixes (e.g. 112 ₁, 112 ₂, and 112 ₃). All elements with a common base number may be referred to collectively or generically using the base number without a suffix (e.g. 112).

General Description of an Autonomous Surface Cleaning Apparatus and Docking Station

With reference to FIGS. 1-3, the following is a general discussion of embodiments of an apparatus 100, which provides a basis for understanding several features that are discussed herein. As discussed subsequently, each of the features may be used individually or in any particular combination or sub-combination such as in the embodiments disclosed herein.

As exemplified, apparatus 100 includes an autonomous surface cleaning apparatus 104 and a docking station 108. In the course of cleaning, and during periods of inactivity, the robotic vacuum cleaner 104 may, at times, dock (or connect) to the docking station 108 (FIG. 1). The docking station 108 can facilitate quick emptying of the robotic vacuum cleaner 104 from dirt and debris accumulated therein during a cleaning operation. Once some, or all, of the dust or collected debris (which may be referred to as dirt) has been transferred out of the robotic vacuum cleaner, the docking station may be independently cleaned-out. In this manner, the docking station 108 facilitates safe and fast emptying of the robotic surface cleaning device without requiring a user to, e.g., remove a dirt collection container from the robotic vacuum cleaner each time it is desired to empty out dust and debris. In various cases, docking station 108 can also be used to re-charge a battery of the robotic vacuum cleaner 104 during docking.

General Description of an Autonomous Surface Cleaning Apparatus

The autonomous surface cleaning apparatus (also referred to herein as a robotic vacuum cleaner) may be of any shape and configuration. As exemplified in FIGS. 2 and 3, the robotic vacuum cleaner 104 may have a housing 140 defined by a generally circular configuration, and comprising an upper end 144, a lower end 148 and peripheral side edge 152 extending between the upper and lower ends 144, 148. A portion of the side edge 152 may define the front end 156 and another portion of the side edge 152 may define the rear end 160 of the robotic vacuum cleaner 104. One or more wheels 208 may be provided, at a lower end 148 of the vacuum housing 140, for moving the robotic vacuum cleaner 104 over surfaces requiring cleaning. It will be appreciated that, in other embodiments, housing 140 may not have a circular configuration, but have any other suitable design or shape.

In order to transfer dirt to docking station 108, robotic vacuum cleaner 104 is provided with a dirt outlet 168. As exemplified, dirt outlet 168 is provided at a front end 156 of the robot housing 140. As exemplified in FIG. 3, dirt outlet 168 is in fluid communication with an air treatment unit 175 located inside the robot housing 140. In other embodiments, the outlet port 168 can be provided at other locations around robot housing 140, including at a rear end 160, top end 144 or lower end 148 of housing 140. Further, more than one dirt outlet port 168 can be provided on the vacuum 104. In embodiments exemplified herein, dirt outlet 168 may be removably coupled to a dirt inlet of the docking station 108 to allow transfer of dirt and debris, collected inside of air treatment unit 175, to docking station 108.

As exemplified, robotic vacuum cleaner 104 has an air treatment unit 175. In the exemplified embodiment, the air treatment unit 175 includes a robot dirt collection chamber 176 (also referred to herein as a robot dirt bin 176 or a robot dirt collection region 176) for storing dirt collected by the robotic vacuum cleaner 104 during the course of cleaning. It will be appreciated that in alternate embodiments, a robotic vacuum cleaner 104 may have two or more dirt bins or dirt collection chambers 176.

It will be appreciated that the air treatment unit 175 may use any air treatment elements known in the air/dirt separation arts for treating an in-flow of dirty air and otherwise separating the air flow from air-entrained dirt and may have one or more air treatment elements. For example, the air treatment element may be a cyclone, a momentum separator, a bag or the like.

Robot dirt bin 176 may be of any configuration. As exemplified in FIGS. 3 and 4C, robot dirt bin 176 may be generally flat and may have a generally rectangular configuration. As exemplified, robot dirt bin 176 extends in the longitudinal direction indicated by the longitudinal axis 138, between a front end 176 a and an axially opposed rear end 176 b. When robotic vacuum cleaner 104 is placed on a horizontal surface, robot dirt bin 176 comprises a top end 176 c, a bottom end 176 d, and one or more side faces 176 e extending between the top and bottom ends. In the exemplified embodiment, the front end 176 a of the dirt bin 176 may comprise an at least partially open end defining a dirt outlet of the robot dirt bin which is aligned with dirt outlet port 168 of the robotic housing 140. In other embodiments, the rear end 176 b (FIG. 11D) or top end 176 b of the dirt bin 176 may also comprise an at least partially open end.

If a docking station 108 is provided for receiving dirt collected by a robotic vacuum cleaner 104, then the robot dirt bin 176 may be secured in position in the robot housing 140 such that it is not intended to be user removable (see for example FIG. 3).

Optionally, whether or not a docking station 108 is provided, robot dirt bin 176 may comprise a separate removable compartment (as exemplified in FIGS. 4A-4D). An advantage of this design is that the robot dirt bin may be removed from the robotic vacuum cleaner 104 for cleaning (e.g., with water). As exemplified, dirt bin 176 is removably disposed inside of a cavity 220, formed within the robot body 140 (FIGS. 4A and 4B). Also, a user may extract the bin 176 to empty its contents (e.g., in a garbage receptacle), without necessitating the use of a docking station 108.

The robot dirt bin 176 may be removable from robotic vacuum cleaner 104 in any manner, for example, it may be removed by opening a door provided, e.g., on upper end 144 of housing 140 and removing the robot dirt bin 176 upwardly. Alternately, the robot dirt bin may be translated horizontally. In the exemplified embodiment, the dirt bin 176 is removed (i.e., extracted) from the cavity 220, through an outlet port 168 (FIG. 4B), by translating the robot dirt bin 176 along a horizontal longitudinal axis 138.

In order to retain dirt in robot dirt bin 176, one or more openable doors 212 may be provided. The openable doors 212 may be part of robot dirt bin 176 or they may be part of housing 140. When the openable doors 212 are in a closed position, dirt is securely stored in robot dirt bin 176. When at least one of the openable doors 212 is opened, robot dirt bin 176 may be emptied. The robot bin doors 212 can have any suitable design or configuration, and may be rotatably openable, translatable to an open position or the like. As exemplified in FIG. 3, door 212 is pivotally connected to the robot body 140 while, as exemplified in exemplified in FIGS. 4A-4C, door 212 is pivotally connected to the dirt bin 176 body.

In the embodiment exemplified in FIG. 4C, the door 212 is pivotally mounted to the robot dirt bin 176 by a hinge 216. Hinge 216 may be configured as a piano hinge, which rotates about an axis 224, transverse to axis 138 (FIG. 4C). In the exemplified embodiment, hinge 216 is provided at a top-forward edge of dirt bin 176, and can be configured to pivot the door 212 forwardly (see for example FIG. 4C) or rearwardly (see for example FIG. 15C). In other cases, hinge 216 can be located, for example, at the lower front edge of dirt bin 176.

Any number of openable doors 212 may be provided, and may be provided at any location on robot dirt bin 176. For example, the robot dirt bin may comprise a single door (FIG. 4), or more than one door (FIG. 10). In particular, as exemplified in FIGS. 4A-4C, the front end 176 a of robot dirt bin 176 may comprise an openable end that is in communication with the dirt outlet 168. The openable door 212 is provided at the front end 176 a, and aligned with the outlet port 168, to seal the dirt bin 176 during operation of the robotic vacuum cleaner 104. In other embodiments, provided in further detail herein, and as exemplified in FIG. 10, dirt bin 176 may include two openable doors 212, including a front openable door 2121 located at the front end 176 a, and a rear openable door 2122 provided to cover an open (or partially open) rear end 176 b.

The openable doors 212 may be manually openable by a user, or an opening mechanism may be provided to move doors 212 to the open position when, e.g., robot dirt bin 176 is to be emptied and/or when robotic vacuum cleaner 104 docks at the docking station 108.

Doors 212 may be openable in any manner known in the art. Several exemplary opening mechanisms are discussed subsequently. For example, doors 212 may be pivotally openable using, for example, a rotating swing door design (see for example FIG. 7), a rotating axle design (see for example, FIG. 8), or a rotating gear design (see for example FIG. 9).

The robot dirt bin 176 is also provided with a dirt inlet 188, which may be of any design known in the robotic vacuum cleaner arts and may be provided at any location known in the robotic vacuum cleaner arts. As exemplified in FIG. 3, the rear end 176 b of dirt bin 176 is provided with the dirt inlet 188 for receiving dirt and debris that is collected by the robotic vacuum cleaner 104 during the course of cleaning. In other cases, dirt inlet 188 can also be located at other locations around dirt bin 176, including on the side face 176 e of bin 176 (see for example FIG. 4A). As exemplified in FIG. 4B, in embodiments wherein the dirt bin 176 comprises a removable component, the robot housing 140 can include a dirt inlet 232 (FIG. 4B), which is in fluid flow communication with into the robot dirt bin inlet 188 when bin 176 is positioned inside of housing cavity 220.

The robotic vacuum cleaner may also be provided with any floor cleaning member known in the robotic vacuum cleaner arts. Referring to FIGS. 3 and 4, a sweeper 172 can be located on a lower end 148 of the vacuum robot 104, and can be used for sweeping dirt and debris from surfaces during cleaning. As exemplified, sweeper 172 can comprise one or more rotating brushes which, by itself using a mechanical sweeping action or in combination with an air flow, conveys dirt through the dirt inlet 188 into the dirt bin 176.

In various embodiments, as provided in further detail herein, the robotic vacuum cleaner may also have a suction motor 180 to draw, or assist in drawing, dirt into robot dirt bin 176. In such an embodiment, sweeper 172 can also function as a dirty air inlet for the robotic vacuum cleaner 104. If a suction motor is provided, then a clean air outlet 196 may be provided. The clean air outlet 196 may be located at a lower end of the robotic vacuum cleaner 104 as exemplified in FIG. 3, but may alternately be provided at other locations around the robot body 140 (e.g., top end 144 as exemplified in FIG. 4, or at a rear end 160). Accordingly, an airflow path 184 extends between the dirty air inlet (or sweeper) 172 and the clean air outlet 196 with the suction motor 180 positioned in the airflow path 184 to generate a vacuum suction through the airflow path 184. As exemplified, suction motor 180 may be positioned downstream of dirt bin 176, and is located inside of motor housing 182. Suction motor 180 can be, for example, a fan-motor assembly including an electric motor and impeller blade(s).

If a suction motor 180 is provided, then, as exemplified in FIGS. 3 and 4, one or more pre-motor filters 204 may be provided in the airflow path 184, upstream of the suction motor 180. Pre-motor filters 204 can be formed from any suitable physical, or porous filter media. For example, pre-motor filters 204 may be one or more of a foam filter, a felt filter, a HEPA filter, or other physical filter media. In some embodiments, pre-motor filter 204 may include an electrostatic filter, or the like.

During operation of the exemplified robotic vacuum cleaner 104, suction motor 180 is activated (i.e., via the power switch 164 in FIG. 2) to drive airflow, through airflow path 184, such that air is drawn through the sweeper (i.e., dirty air inlet) 172, and into the robot dirt bin 176 via inlet 188 (FIG. 3). The airflow may continue through an air outlet 206 of dirt bin 176, and downstream through an air passage 192 a to the suction motor 180. As exemplified in FIG. 4A, in some cases, an additional pre-motor filter 204 b may be provided at outlet 206, to prevent airborne dirt from being carried downstream toward the suction motor 180. As exemplified in FIG. 3, air exiting the suction motor 180 may continue through a second air passage 192 b, and exits the clean air outlet 196. In various embodiments, upon de-activating the suction motor 180, dirt which aggregates on the filter 204 b may collapse and collect inside dirt bin 176.

As exemplified in FIG. 4C, in embodiments wherein the dirt bin 176 comprises a separately removable compartment, the compartment may include an air outlet 236 which aligns with outlet 206, when the dirt bin 176 is received inside of cavity 220. Optionally, as exemplified, the air outlet 236 can include a separate filter medium 238. The filter medium 238 can prevent dirt and debris from escaping the dirt bin 176, via outlet 236, when the dirt bin 176 is extracted for cleaning. Alternately, or in addition, air outlet 236 may have an openable door for closing air outlet 236.

General Description of a Docking Station

A docking station 108 may be of any shape and configuration. Referring to FIG. 1, as exemplified, the docking station 108 comprises a body (or housing) 110 having a top end (or upper end) 116, a bottom end (or lower end) 120, a front end 124 and a rear end 128. Body 110 also includes lateral side faces 132, which extend between the front and rear ends. Optionally, a base 136 is provided at the lower end 120 to stabilize the docking station 108 in the upright position.

In the exemplified embodiment, the docking station 108 is generally configured as a vertical, rectangular structure, having an upright section 112. In other cases, the docking station 108 may have any other suitable shape or design.

As best exemplified in FIGS. 6A-6C, the docking station 108 may include an opening port 262 (also referred to herein as a dirt inlet 262), disposed at the front end 124 of the docking housing 110. The opening port 262 is positioned to be in fluid flow communication with, e.g., it may be aligned a with and be abutted by opening port 168 of the robotic vacuum cleaner 104 when the robotic vacuum cleaner 104 is to be emptied (e.g., the robotic vacuum cleaner is docked at the docking station). In this configuration, the docking station 108 can receive dirt and debris, ejected from the docked robotic vacuum cleaner 104, through dirt inlet port 262. In other embodiments, port 262 may be located at any other suitable location on the docking station body 110.

Optionally, as exemplified in FIGS. 5 and 6, a sealing member 106 may be attached (e.g., permanently or removably attached) around the port opening 262, and at the front end 124 of docking station 108. The sealing member 106 may be any member which can create a seal between the outlet 168 of the robotic vacuum cleaner 104 and the opening or dirt inlet port 262 of the docking station 108. For example, the sealing member 106 may comprise a rigid interface member (see for example FIGS. 5A and 5B), a flexible or compressible member (e.g., a bellows or the like) (see for example FIG. 5C) or a gasket-like member. As exemplified, upon docking the robotic vacuum cleaner 104, the sealing member 106 can engage to surround the dirt outlet port 168 of the robotic vacuum cleaner 104, and can be used to prevent dirt and debris from escaping when transferring dirt and debris between the robot dirt bin 176 and the docking station 108.

Alternately, or in addition, and as explained subsequently in further detail with reference to FIGS. 25-29, a connection interface 264 may be attached to a front end 124 of the docking station 108 (e.g., integrally, or removably attached thereto). The connection interface 264 can be provided in addition to, or as an alternative to, the sealing member 106. In the exemplified embodiments, and as explained in further detail herein, the connection interface 264 can be used to house a dirt transfer mechanism for transferring the contents of robot dirt bin 176 into docking station 108.

As best exemplified in FIGS. 5-6, the docking station 108 can further comprise a dirt receptacle 248. Dirt receptacle 248 may be of any design which collects and retains dirt, transferred from the robotic vacuum cleaner 104 to the docking station 108. The dirt receptacle 248 may be secured in position in the docking station 108 such that it is not intended to be user removable, or it may be the docking station 108 itself or it may comprise a separate removable compartment (see for example, FIGS. 5A and 5B).

If the dirt receptacle 248 is not removable from the docking station 108 or is the docking station 108 itself, then an openable door may be provided to permit the dirt receptacle 248 to be emptied. For example, dirt receptacle 248 may have a bottom that is openable when it is removed from the docking station. Alternately, if the dirt receptacle 248 is a non-removable component of the docking station, then the portion of the docking station that houses, comprises or consists of dirt receptacle 248 may be removable and it may have a bottom that is openable when it is removed from the docking station.

If the dirt receptacle 248 is removable, then the docking station 108 may include a cavity 250 for removably receiving the dirt receptacle 248 and at least one open end 249, through which the dirt receptacle 248 may be removed for emptying. For example, as exemplified in FIGS. 5A and 5B, the open end 249 may be the upper end 116 of the docking station 108, which may be used for accessing and removing (or replacing) the receptacle 248. In other embodiments, the opening for removing the dirt receptacle 248 may be provided at any other location around the docking housing 110.

A removable dirt receptacle 248 may be self-supporting, e.g., it may comprise a rigid bin, or it may not be self-supporting, e.g., a re-usable or disposable bag (e.g., a wax or plastic bag) in which case the docking station 108 may support the disposable bag during a robot emptying operation.

Preferably, an openable door or lid 240 is provided to cover or seal the open end 249 of the docking station 108 while the receptacle 248 is disposed inside of the docking station 108. For example, lid 240 can be used to seal the open end 116 during operation and/or non-use of the docking station 108. The lid 240 may be removable from docking station 108, or it may be rotatably mounted thereto, or it may be translatable to an open position. As exemplified in FIG. 5C, the openable lid 240 is pivotally connected to the docking housing 110 by a hinge 244. Alternatively, or in addition, an openable lid can also be provided on the receptacle 248, rather the docking station housing (not illustrated). In particular, an advantage of this design is that the receptacle 248 can be transported (e.g., carried) to an emptying container (e.g., a larger garbage bin) while the opening 249 is covered, thereby preventing plumes of dust from forming during transport.

If the receptacle is removable or a separate component from the docking station housing 110, then the dirt receptacle 248 can include one or more dirt openings 252 that are positioned to be in fluid flow communication with, e.g., to generally align with and abut, dirt opening port 262 of the docking station 108, when the dirt receptacle 248 is disposed inside of the docking station 108 (see for example FIG. 6A). Accordingly, dirt can be transferred from the robot 104 into the receptacle 248, via the dirt opening 252.

It will be appreciated that if the dirt receptacle 248 is not removable from the docking station 108 or is the docking station 108 itself, then only a single opening may be provided for connecting the dirt receptacle 248 with the dirt outlet 168 of the robotic vacuum cleaner 104. For example, only dirt opening 262 may be provided. In such a case, opening 262 may be provided with an openable door 272.

It will be appreciated that if the dirt receptacle 248 is removable from the docking station 108 then the dirt receptacle 248 and the docking station 108 may each be provided with a dirt opening 252, 262. In such a case, opening 252 and/or opening 262 may each be provided with an openable door 254, 272.

The openable door or doors 254, 272 may be rotatable mounted, translatable or otherwise openable.

For example, as exemplified in FIG. 5B, opening 252 may be covered (e.g., sealed) by a door or flap 254. Flap 254 may cover the opening 252 to prevent dirt from escaping the receptacle 248 when the receptacle is removed from the docking station 108. Optionally, as exemplified, in order to seal the opening 252, flap 254 may be recessed inside the receptacle 248, and may have a cross-sectional area greater than the opening 252. As exemplified in FIG. 6, flap 254 can be opened inwardly, into the volume of the receptacle 248, to provide access into the receptacle 248. In some embodiments, where the dirt receptacle 248 comprises a rigid bin, flap 254 can comprise a rigid material (e.g., a rigid door) which is pivotally attached to the receptacle 248 by a hinge 256 (FIG. 5B). Flap 254 may be biased, e.g., by a spring, to the closed position. Alternately, or in addition, the opening mechanism may secure flap 254 in the closed position.

As exemplified in FIG. 6, the docking station opening 262 may also include an openable door 272. Openable door 272 may seal the docking station 108 when the robotic vacuum cleaner 104 is not docked. In the exemplified embodiment, door 272 is pivotally mounted to the docking station housing 110 by hinge 274, and can pivot either forwardly or rearwardly.

As exemplified in FIG. 6B, door 272 can pivot rearwardly to push open the dirt receptacle flap 254, and accordingly, allow dirt to be transferred into the dirt receptacle 248. Alternatively or in addition, as exemplified in FIG. 6C, where the flap 254 comprises a rigid door, docking station door 272 may not be necessarily provided, and receptacle door 254 can act as a doorway for both the docking station 108 and the receptacle 248.

Door Opening Mechanisms

The following is a discussion of a door opening mechanism, which may be used by itself or with any of the features disclosed herein. In the exemplified embodiments, the door opening mechanism can be used for opening one or more of: (i) door(s) 212 to the robotic vacuum cleaner dirt bin 176; (ii) door 272 to the docking station 108; and/or (iii) a door 254 associated with the dirt receptacle 248, in order to allow dirt to be transferred from the robot dirt bin 176 into docking station 108 during docking.

The door opening mechanism may be part of a mechanical transfer member whereby the door or doors are opened as the mechanical transfer member moves to transfer dirt from the robotic surface cleaning apparatus to the docking station. Accordingly, the door opening mechanism may comprise a mechanical door opening mechanism which is part of a dirt transfer mechanism (see for example FIGS. 10 and 15). A mechanical door opening mechanism may be part of a dirt transfer mechanism and may engage and open the door as part of a dirt transfer operation. Accordingly, mechanical door opening mechanisms are discussed subsequently.

Alternately, the door opening mechanism may be activated when the mechanical transfer member or the pneumatic dirt transfer mechanism is actuated or when the robotic vacuum cleaner 104 docks at the docking station 108. In such an embodiment, the door opening mechanism may comprise an electrically operated motor which is energized when the mechanical transfer member or the pneumatic dirt transfer mechanism is actuated.

Similarly, the door opening mechanism may close the door(s) when the dirt transfer is completed or when the robotic vacuum cleaner leaves the docking station 108. Alternately, or in addition, the door(s) may be biased to a closed position.

As exemplified, the door opening mechanism may comprise an electric door opening mechanism that is drivingly connected to the door by a linking mechanism. As exemplified in FIGS. 7-9, the linking mechanism comprises an axle of a drive motor that is drivingly (e.g., rotatably) connected to the door. Alternately, the linking mechanism may be a telescoping member that moves axially to open and close the door. Alternately, the linking mechanism may be a drive arm similar to that shown in FIG. 13C.

FIGS. 7-9 exemplify various embodiments for an automatic electric door opening mechanism. As exemplified, the robotic vacuum cleaner 104 is provided with a door 212 and the docking station is also provided with a door 272. An electric motor 276 is drivingly connected to the door to move the door between the open and closed position. The motor 276 is actuated by a signal provided by a control unit 296. The control unit 296 issues a signal in response to an actuator (an activation switch unit), which may be a manually operable switch (e.g., a user actuates the switch), or a sensor (e.g., a proximity sensor, an optical sensor, a pressure sensor or a reed switch) that detects when the robotic vacuum cleaner docks at the docking station, or a circuit that is closed when the on board power supply of the robotic vacuum cleaner 104 commences recharging after the robotic vacuum cleaner has docked at the docking station 108.

As best exemplified in FIG. 7A, each door is provided with an automatic door opening mechanism that comprises an electric motor 276 drivingly connected to the door to open the door 272, 212. In particular, each of the robotic vacuum cleaner door 212 and the docking station door 272 is rotated by a respective electric motor 2761, 2762. Each motor 276 is, in turn, controlled by a control unit 2961, 2962, via, e.g., a cable wire 298. In various cases, control units 296 can also house power supplies (e.g., batteries) to power the motors 276 or the motors 276 may be powered by an on board power supply of the robotic vacuum cleaner. Each control unit 296 is electrically coupled via, e.g., a cable 292 to a respective activation switch unit 2881, 2882.

Activation switch units 288 operate to transmit activation signals to control units 296 upon, e.g., docking of robotic vacuum cleaner 104 at the docking station 108 and/or the robotic vacuum cleaner leaving the docking station 108. Upon receiving the activation signal, the control units 296 can control the opening and/or closing of doors 212, 272, via motors 276. In the exemplified embodiments, the activation switch unit 2881 for the robotic vacuum cleaner is provided at a front end 156 of the robot housing 140, while the activation switch unit 2882 for the docking station 108 is provided at a front end 124 of the docking station housing 110.

Activation units 288 can comprise any suitable switch mechanism known in the art. In the exemplified embodiment of FIG. 7, activation units 288 each comprise a pressure sensor, which is configured to transmit an activation signal upon sensing applied pressure. As exemplified in FIG. 7B, the pressure sensors 288 are each positioned—on the robotic vacuum cleaner and docking station housings—to directly engage (e.g., contact) each other upon docking of the robotic vacuum cleaner 104. Upon contacting, each pressure sensor 288 may transmit an activation signal to a respective control unit 296, to activate motors 276 and open doors 212, 272. In this manner, the pressure sensors 288 facilitate automatic opening of doors 212, 272 upon docking robotic vacuum cleaner 104. In other embodiments, pressure sensors 288 may not directly engage each other at docking, but rather, may engage reciprocal surfaces of the docking station 108, robotic vacuum cleaner 104 and/or sealing member 106 and maybe located at different locations.

It will be appreciated that, in an alternate embodiment, a single motor may be driving connected to each door 212,272.

FIGS. 8 and 9 exemplify an alternative embodiment for activation units 288. In the exemplified embodiments, activation units 288 each comprise a reed switch, that is opened and closed by an applied magnetic field. As exemplified, magnets 320 are positioned at a front end 124 of docking station 108, and at a front end 156 of the robotic vacuum cleaner 104. During docking of the robotic vacuum cleaner 104, reed switches 288 engage complementary magnets 320 provided on a reciprocal surface of the robotic vacuum cleaner 104 and docking station 108. Each magnet 320 operates to “close” the reed switch 360, and in turn, complete a circuit defined by the control unit 296, and forward and return wires 292 a, 292 b. The closing of the circuit, in turn, causes each control unit 296 to activate a motor 276, and automatically open respective doors 212, 272.

In other cases, the activation switch unit 288 can be manually activated by the user, and can comprise, for example, a button, a switch, or the like, provided on an exterior of the robot and/or docking station housings.

In the embodiments exemplified in FIGS. 7-9, upon receiving an activation signal from activation switch units 288, motors 276 can operate to open the doors 212, 272. Similarly, when the robotic vacuum cleaner leaves the docking station 108 and/or when a transfer operation is complete, activation switch units 288 may issue a signal to the motors whereby the motors close the doors.

FIG. 7A-7C exemplify a first door opening configuration using rotatable “V”-shaped doors wherein the drive motor is indirectly driving connected to the door. As exemplified, the robot dirt bin door 212 may comprise a first “upper” portion 212 a joined to a second “lower” portion 212 b, forming a “V”-shaped member. Portions 212 a, 212 b can be joined together by a hollow cylinder 282, which receives a rod 286. Door 212 is rotatable about rod 286, e.g., by one or more bearings. Rod 286 is attached, optionally non-rotatably mounted at opposite axial ends 286 a, 286 b, to the robot housing 140. In this configuration, door 212 is rotatable between the closed position (FIG. 7A) and an open position (FIG. 7B) about a rotation axis 224 defined by the axis of extension of rod 286.

As best exemplified in FIG. 7A, hollow cylinder 282 and rod 286 may be positioned at a top-forward end, of dirt bin 176 (i.e., the interface between dirt bin 176 and the robot housing 140). In this arrangement, the upper door portion 212 a is disposed above the dirt bin 176, while the lower door portion 212 b is disposed to cover the open front end 176 a of dirt bin 176.

To pivot door 212 between the open and closed positions, a cord 2801 (e.g., cable or other intermediary member) is attached at a first cable end 280 a ₁ to the upper door portion 212 a (FIG. 7C). The cord indirectly connects the motor to the door. The second cable end 280 b ₁ is attached to (e.g., wound around) a spool 2841. Spool 2841, in turn, is drivingly connected to the spool motor 2761. As exemplified, spool motor 2761 is located above the robotic dirt bin 176, and rear of the door 212. In this configuration, spool motor 2761 can be used to wind or unwind the cord 2801, in order to open the door 212 (FIG. 7B), or otherwise, release the door 212 back into the closed position (FIG. 7A). Optionally, door 212 is biased to the closed position by, e.g., a torsion spring, such that, when spool motor 2761 unwinds the cable, the door will move to the closed position.

The docking station door 272 may also have a similar door configuration, comprising an upper door portion 272 a and a lower door portion 272 b joined together to form a “V”-shaped member. A cable 2802 connects the upper portion 272 a to spool 2842, which is wound or unwound by spool motor 2762. An optional torsion spring may also be provided.

Optionally, each door may have a heavier lower door portion 212 b, 272 b than the upper door portion 212 a, 272 a. An advantage of this design is that the heavier lower portion 212 b, 272 b may assist in pivoting the door into the closed position, once cords 280 are un-wound by motors 276 (i.e., under the force of gravity).

FIGS. 8A-8B exemplify an alternative door opening configuration wherein the motor is directly connected to the door (e.g., the drive axle of the motor is drivingly connected to the door). As best exemplified in FIG. 8B, robot dirt bin door 212 may comprise a longitudinally extending member 282, attached to a lateral edge of the door 212. Member 282 can extend between a first lateral end 282 a and an axially opposed second lateral end 282 b. As exemplified, the first end 282 a is non-rotatably mounted to rotating axle 322 of motor 276. The motor 276 and axle 322 can be jointly positioned at the interface between the top of the dirt bin 176 c, and the housing 140, and at a forward-end 176 a of the dirt bin 176 (FIG. 8A). In this configuration, motor 276 rotates axle 322 to pivot the door 212, about rotation axis 224, between the open and closed positions. A similar configuration can be applied with respect to door 272 of the docking station 108.

FIGS. 9A-9B exemplify still a further alternative door opening configuration wherein the motor is indirectly drivingly connected to the door by intermediary members comprising gears. In this embodiment, the motor drives a drive gear 334 b and a mating driven gear 334 a is provided on the door. As exemplified in FIG. 9B, the longitudinally extending member 282 of door 212 is connected, at a first lateral end 282 a, to a first rotating toothed gear 334 a. In the exemplified embodiment, the gear 334 a is non-rotationally mounted to the longitudinally extending member 282. The first gear 334 a is, in turn, in toothed engagement with a second rotating gear 334 b. As exemplified, second gear 334 b is non-rotationally mounted to an axle 322 of motor 276. Each of the second gear 334 b and the motor 276 can be disposed above the dirt bin 176. In this configuration, upon activation of motor 276, the drive gear 334 b may rotate to turn the driven gear 334 a and, in turn, pivot the door 212, about rotation axis 224, into the open position. Similarly, the motor may be rotated in the reverse direction to close the door. A similar configuration can be used with respect of docking station door 272, using interleaved gears 336 a, 336 b.

While the embodiments in FIGS. 7-9 exemplify various electrical door opening mechanisms, in other embodiments, the door opening mechanism can also comprise a mechanical door opening mechanism using, for example, a mechanical ram. These embodiments will be described in further detail herein, with reference to FIGS. 10-15.

Dirt Transfer Mechanism

The following is a discussion of a dirt transfer mechanism which is used for cleaning (e.g., removing) dirt and debris from the robot dirt bin 176. The dirt transfer mechanism can be used by itself, or with any of the features previously disclosed herein, including the door opening mechanism. In the exemplified embodiments, the dirt transfer mechanism may comprise one or more of: (a) a mechanical dirt transfer mechanism; and/or (b) a pneumatic dirt transfer mechanism.

(a) Mechanical Dirt Transfer Mechanism

A mechanical dirt transfer mechanism comprises a member (e.g., a mechanical transfer member) which physically engages and moves dirt from the robot dirt bin 176 towards or into the docking station 108 (dirt receptacle 248). The mechanical dirt transfer member may push the dirt out of the robot dirt bin 176 towards or into the docking station 108 and/or may pull the dirt out of the robot dirt bin 176 towards or into the docking station 108. As such, the mechanical dirt transfer mechanism may travel through part or all of the robot dirt bin 176 (e.g., it may sweep across all or part of the floor of the robot dirt bin 176).

As exemplified, the mechanical dirt transfer mechanism may be located inside one or more of the robotic vacuum cleaner 104 (see for example FIGS. 10-14), and/or the docking station 108 (see for example FIGS. 15-16).

As exemplified in FIGS. 10-14 and FIGS. 15-16, the mechanical dirt transfer member 344 may comprises a sweeping portion 344 a that is longitudinally translatable through at least a portion of the robot dirt bin 176 In particular, as the sweeping portion 344 a is translated inside all or part of the robot dirt bin 176, the sweeping portion 344 a is configured to engage dirt in the robot dirt bin 176 and push (FIGS. 10-14) and/or pull (FIGS. 15-16) the dirt through and, optionally, out of the robot dirt bin 176 and into the dirt receptacle 248 of the docking station 108.

Sweeping portion 344 a may have a cross-sectional area in a plane transverse to the longitudinal axis 138 that is proximate (e.g., slightly smaller than) the cross-sectional area of the robot dirt bin in the plane transverse to the longitudinal axis 138. Accordingly, as sweeping portion 344 a is translated longitudinally through robot dirt bin 176, sweeping portion 344 a pushes or pulls dirt through and optionally out of the robot dirt bin 176.

In the exemplified embodiments of FIGS. 10-14, sweeping portion 344 a of transfer member 344 is configured as a planar member having a cross-sectional area that is substantially equal to the cross-sectional area of the robot dirt bin 176. In other embodiments, sweeping portion 344 a may have any other suitable design, shape or configuration. For example, as exemplified in FIGS. 15-16 and as provided in further detail herein, sweeping portion 344 a may be configured as a foldable sweeping portion 344 a which includes a pivoting first sweeping member 344 a ₁ and second sweeping member 344 a ₂.

Optionally, the sweeping portion 344 a may engage one or more of the lateral sidewalls of the robot dirt bin 176 (e.g., the sweeping portion 344 a may have a lower end that sweeps along the floor of the robot dirt bin 176 as the sweeping portion travels e.g., from a rear end of the robot dirt bin 176 to the front end of the robot dirt bin 176). Accordingly, one or more of the lateral sides, the upper side and the lower side of the sweeping portion that face a lateral sidewall, the upper wall and/or the floor of the robot dirt bin 176 may have brush members, rubber wipers or the like that travel along or proximate the lateral sidewalls, the upper wall and the floor of the robot dirt bin 176 to move dirt through the robot dirt bin 176.

Optionally, as exemplified in FIG. 11, at least a portion of a longitudinal edge of the sweeping member 344 a that is directed toward the top surface 176 c of the dirt bin 176 is lined with one or more scraping members 194 (i.e., scraping teeth) (FIG. 11D). As exemplified in FIGS. 11B and 11C, scraping members 194 can scrap (e.g., debride) a grill 198 for filtering large particles, which covers the air outlet 206 that leads to the air passage 192 a, as the transfer member 344 is translated between the storage and emptied positions. In other cases the grill 198 may not be provided, and the scraping members 194 may directly engage a pre-motor filter 204 a covering the air outlet 206.

Sweeping portion 344 a may be translatable axially through the robot dirt bin 176 between a storage or floor cleaning position (FIGS. 10A, 11A, 12A, 13A, 14A, 15A), and one or more dirt emptying position (FIGS. 10B-10C, 11B-11C, 12B, 13B, 14B, 15B-15D). FIGS. 10-15 exemplify embodiments where the mechanical transfer member 344 is provided inside the robotic vacuum cleaner. As exemplified, in FIGS. 10A, 11A, 12A, 13A and 14A, in the floor cleaning position, the sweeping portion 344 a may be positioned such as to not obstruct the flow of air through the dirt bin 176 in a floor cleaning mode. For instance, as exemplified in FIGS. 10A, 11A, 12A, 13A and 14A, in the floor cleaning position, the sweeping portion 344 a may be optionally recessed behind the rear end 176 b of the robot dirt bin 176 and inside a cavity 356 located rearward and exterior to the robot dirt bin 176. In other embodiments, in the floor cleaning mode, the sweeping portion 344 a may be provided inside the robot dirt bin 176, and recessed proximal the rear end 176 b.

FIG. 15A exemplifies an alternative embodiment where the mechanical transfer member 344 is located inside the docking station 108. In this exemplified embodiment, in the floor cleaning or storage position, the sweeping portion 344 a may be disposed inside the docking station 108. In particular, as discussed subsequently herein, the docking station 108 may include two compartments, a first compartment 108 a for containing the dirt receptacle 248, and a second compartment 108 b for housing the mechanical dirt transfer mechanism 344. The sweeping portion 344 a may be located inside the second compartment 108 b in the floor cleaning or storage position.

In the dirty emptying positions (FIGS. 10B-10C, 11B-11C, 12B, 13B, 14B, 15B-15D), sweeping portion 344 a may be translated along axis 138 to push dirt out of the robot dirt bin 176 (FIGS. 10B-10C, 11B-11C, 12B, 13B, 14B) or pull dirt out of the dirt bin 176 (FIGS. 15B-15D) through and, optionally, out of the dirt bin 176. In embodiments where the dirt transfer member 344 is located inside the robotic vacuum cleaner 104 (FIGS. 10B-10C, 11B-11C, 12B, 13B, 14B), in the dirty emptying position, the sweeping portion 344 a may be translated—along axis 138—along a portion of the dirt bin 176 and toward the front end 176 a of the dirt bin 176 and/or optionally through the dirt outlet 168 and into the docking station 108. In embodiments where the transfer member 344 is located inside of the docking station 108, in the dirt emptying positions, the sweeping portion 344 a may be translated, along axis 138, through the front end 176 a of the dirt bin 176 and at least partially toward the rear end of the dirt bin 176 b (FIGS. 15B and 15C) or all the way to the rear end, and back toward the docking station 108 (FIGS. 15D and 15E).

Sweeping portion 344 a may have a drive member 344 b that moves the sweeping member longitudinally between the floor cleaning or storage positions and one or more dirt emptying positions. The drive member 344 b may push the sweeping member 344 a through the robot dirt bin (see for example transfer member 344 of FIGS. 10-14) or may pull a sweeping member 344 a through the robot dirt bin 176 (see for example FIGS. 15A-15E, and 16A and 16B). If the drive member 344 b pulls the dirt through the robot dirt bin 176, then the drive member 344 b may be located in the docking station 108 or the connection interface 246.

The drive member 344 b may be a rigid member that is pushed through the robot dirt bin, such as ram stem portion 344 b of FIGS. 10-14 or pulled through the robot dirt bin (see for example FIGS. 15A-15E), or may be a telescoping member that telescopes axially (in the direction of axis 138) to move the sweeping member 334 a, a drive arm similar to that shown in FIG. 13C, an inflatable member that inflates rearward of sweeping portion 344 a to push sweeping portion 344 a or the like.

Each portion of transfer member 344 may be formed of any suitable material, including a rigid material or a flexible material. In some cases, the sweeping portion 344 a and stem portion 344 b may be each formed from different materials. An advantage of forming sweeping portion 344 a and/or stem portion 344 b from flexible material is that, the transfer member 344 may be deployed in areas having non-linear contours. For example, if the cavity in which drive member 344 b is located is non-linear, then it may be beneficial for the drive member 344 b to be made of a flexible material. For instance, as exemplified in FIG. 3, the robot dirt bin 176 may have a curvature, which requires sweeping portion 344 a and/or stem 344 b to be sufficiently flexible to bend with the curvature as ram 344 translates through the robot dirt bin 176.

Referring now to FIGS. 10-14 which exemplify a case where the mechanical transfer member 344 is located inside the robotic vacuum cleaner 104. In the exemplified embodiment, the mechanical dirt transfer mechanisms may be configured as a “ram” like member wherein the drive member 344 b comprises a longitudinal stem portion 344 b. As exemplified, stem portion 344 b extends axially, along axis 138, between a first stem end 344 b ₁ and a second stem end 344 b ₂. In the exemplified embodiment, the first end 344 b ₁ is mounted to the rear side of sweeping portion 344 a. (Stem portion 344 b extends through the rear wall of robot dirt bin 176.)

Stem portion 344 b is slidably moveably mounted in the robotic vacuum cleaner 104 and extends along axis 138. For instance, as exemplified in FIG. 11, the stem portion 344 b may be positioned rearwardly and exterior of robot dirt bin 176, such as in cavity 356 of the robot housing. The rear end 176 b of the robot dirt bin 176 may comprise an opening to allow the stem portion 344 b to translate the sweeping portion 344 a through the robot dirt bin 176 (also referred to herein as a mechanical transfer member inlet port 183, exemplified in FIGS. 11A-11C). In this manner, stem portion 344 b may extend through the opening port 183 in the rear wall 176 b of robot dirt bin 176 to push the sweeping portion 344 a through the robot dirt bin 176. In this configuration, axial sliding of stem portion 344 b, inside of cavity 356, controls and stabilizes axial motion of the sweeping portion 344 a inside the dirt bin 176. It will be appreciated that stem portion 344 b may have any suitable axial length to extend sweeping portion 344 a to various emptied positions. For example, as exemplified in FIG. 11A, stem 344 b may have an axial length 342, which is defined between the first stem end 344 b ₁ and the second stem end 344 b 2, that is substantially equal to, or greater, than the axial length 178 of dirt bin 176, i.e., defined between the front end 176 a and the rear end 176 b of dirt bin 176. An advantage of this configuration is that the sweeping portion 344 a may translate across the entire axial length of the dirt bin 176, so as to transfer dirt completely out of the bin 176. As exemplified in FIG. 10C, in other cases, the axial length of the stem portion 344 b can be greater than the dirt bin 176. An advantage of this design is that sweeping portion 344 a may extend to further transfer dirt into the docking station 108 when the robotic vacuum cleaner 104 is in the docked position. Accordingly, stem portion 344 b may have a length to extend through interface 246 (if provided) and into dirt receptacle 248. The cavity 356 may have an axial length which is at least as equal to the axial length of stem 344 b, so as to receive the stem 344 b in the storage position. It will be appreciated that the stem portions may be a telescoping member.

In addition to ejecting dirt and debris from the dirt bin 176, stem portion 344 b can also be used as a mechanical door opening mechanism for opening one or more of the robot dirt bin doors 2121 and 2122, docking station door 272 and/or a dirt receptacle door 254. For example, as exemplified in FIGS. 10B and 10C, as the ram 344 is translated into the emptied position, the sweeping portion 344 a may engage, and cause the doors 212 and 272 to pivot open.

Preferably, as exemplified in FIG. 10, the stem portion 344 b may comprise a flange member, which can be used to hold (e.g., prop) the doors in the open position as the sweeping member 344 a passes by the door. In this manner, the flange member prevents the doors from moving towards the closed position, behind the sweeping portion 344 a. Accordingly, the doors are prevented from engaging the sweeping portion 344 a, when the sweeping portion 344 a is retracted back into the storage position and thereby preventing the sweeping portion 344 a to move to the storage position. As exemplified in FIG. 10, the upper surface of the stem portion 344 b extends axially rearwardly from the upper end of the sweeping portion 344 a. Therefore, the flange member is the upper surface of stem portion 344 b. It will be appreciated that flange portion may be any member which will maintain a door above the upper end of the sweeping portion 344 a such that the sweeping portion 344 a may be retracted to the storage position.

Optionally, as also exemplified in FIG. 10, one or more biasing members such as springs 372 a, 372 b, 372 c, 372 d may be provided to bias one or more of doors 2121, 272, 254 and 2122, respectively, to the closed position. For example, as exemplified in FIG. 10A, a spring 372 a may connect between the front robot dirt bin door 2121 and the robot housing 140, and a spring 372 d may connect between the rear robot dirt bin door 2122 and the robot housing 140. Similarly, as exemplified in FIG. 10B, a spring 372 b may also connect between the docking station housing 110 and the door 272. Optionally, a spring 372 c may further connect between dirt receptacle 248 and the receptacle door/flap 254. Each of springs 372 can be a torsion spring that is compressed when the doors 212, 254, 272 are rotated into the open position by the ram 344. The springs 372 can then expand to automatically close the doors 212, 272, as the ram 344 is retracted back into the storage position.

In other embodiments, rather than using biased springs, hinges 216 and 274, for the robotic vacuum cleaner doors 212 and docking station door 272, respectively, can comprise spring hinges, which bias the doors into the closed position. Similarly, a hinge 256 for a dirt receptacle door 254 (FIG. 5B) may also be configured as a spring hinge.

In the embodiments exemplified in FIG. 10-14, wherein the transfer member 344 is located inside the robotic vacuum cleaner 104, the transfer member 344 may be translated between the floor cleaning position and the dirt emptying positions, in any suitable manner known in the art. In the exemplified embodiments, movement of the transfer member 344 from the floor cleaning position to the dirt emptying position is actuated using one or more of an automatic electrical activation mechanism (FIGS. 10-11), a user actuated electro-mechanical activation mechanism (FIG. 12), a mechanical activation mechanism (FIG. 13) and/or a hydraulic or pneumatic activation mechanism (FIG. 14).

As exemplified in FIGS. 10 and 11, an automatic electrical activation mechanism is used to commence a cleaning cycle whereby the transfer member 344 is translated between the floor cleaning and dirty emptying positions. In this embodiment, the automatic electrical activation mechanism comprises control unit 350 which is operably connected to electric motor 352 and an activation switch, such as activation switch unit 360, wherein upon the activation switch being actuated, such as by the robotic surface cleaning apparatus docking at a docking station, a signal is sent to the control unit 350 which then actuates the electric motor 352 thereby commencing an emptying cycle.

In the exemplified embodiments, and as best exemplified in FIG. 11, a mechanical transfer member is actuated by an electrical activation mechanism. In this embodiment, transfer member 344 is translated between the floor cleaning and dirt emptying positions using a rack and pinion system driven by an electric motor 352. As exemplified, the electric motor 352 rotates a toothed gear 348 that is non-rotatably mounted to a motor shaft 352 a. The toothed gear 348 engages complimentary teeth 346, extending axially along at least a portion of the upper end of the ram stem 344 b (FIGS. 10A and 11D). In this configuration, rotating gear 348 drives ram stem 344 b axially in a manner analogous to a rack-and-pinion system. For example, in the exemplified embodiment, gear 348 is rotated in a clockwise direction to translate ram 344 to an emptied position. Gear 348 is then rotated in a counter-clockwise direction to reverse translation of ram 344 back to the storage position.

As exemplified in FIG. 10, motor 352 may be in communication with a control unit 350, via e.g., wire 365. Control unit 350 can control motor 352 in order to rotate gear 348 in a clockwise or counter-clockwise direction. In some embodiments, control unit 350 can be the same as the control unit 2961, exemplified in FIGS. 7-9, used for controlling the automated opening of the robot dirt bin door 212. In this manner, a single control unit can be used for both automatically opening the robotic vacuum cleaner door, and translating the ram 344 into an emptied position, i.e., upon docking the robotic vacuum cleaner 104. In various cases, control unit 350 can also house a power supply (e.g., batteries) to power the motor 352.

In some cases, control unit 350 can also control the number of rotations of gear 348 by motor 352. For example, control unit 350 can control motor 352 to rotate gear 348 a pre-determined number of rotations in the clockwise or counter-clockwise directions. In particular, this can be done to prevent ram 344 from over-extending in the emptied position (i.e., due to over-rotation of gear 348), and otherwise displacing stem 344 b from cavity 356. Control unit 350 can also control the number of rotations of gear 348 to ensure that the ram 344 is properly returned to the storage position.

Electric motor 352 may be powered by the onboard energy storage member of the robotic vacuum cleaner 104.

As exemplified in FIG. 10, electric motor 352 may be automatically electrically activated to translate ram 344 into the emptied position. Accordingly, upon a robotic vacuum cleaner docking at a docking station 108, a signal may be issued by a sensor which actuates the electric motor 352 to commence an emptying cycle of the robot dirt bin 176. For example, control unit 350 may automatically activate the electric motor 352 upon the robotic vacuum cleaner 104 docking at the docking station 108.

As exemplified in FIGS. 10B and 10C, control unit 350 is connected, e.g., via one or more wires 364, to an activation switch unit 360. Activation switch unit 360 can comprise any suitable switch mechanism known in the art and may be any of those discussed with reference to activation unit 288 and, optionally, may be activation unit 288. For instance, as exemplified in FIG. 10, activation unit 360 can comprise a reed switch disposed at a front end 156 of the robot housing 140. Upon docking the robotic vacuum cleaner 104, the reed switch 360 engages a magnet 368 disposed on a front end 124 of the docking station 108. Magnet 368 can also be disposed on a front end of the sealing member 106, or at a front end of a connection interface 264 disposed between the docking station 108 and the vacuum 104.

As exemplified, magnet 368 operates to “close” the reed switch 360, and complete a circuit defined by the control unit 350 and forward and return wires 364 a, 364 b. The closing of the circuit, in turn, causes control unit 350 to activate motor 352 and translate the ram 344 into the emptied position.

In some cases, control unit 350 can automatically return the ram 344 back into the storage position once the unit detects that the reed switch 360 is reopened (e.g., the robot has undocked). In other cases, the control unit 350 can return the ram 344 back into the storage position, immediately or shortly after, the ram 344 is translated into the emptied position, i.e., without first waiting for the robotic vacuum cleaner 104 to undock, e.g., using a timer.

In other embodiments, activation unit 360 can comprise a pressure sensor, rather than a reed switch. Upon engaging the pressure sensor 360 with a surface of the docking station 108, sealing member 106 and/or a connection interface 264, the pressure sensor 360 may be activated to transmit a signal to the control unit 350, via, e.g., wire 364. Control unit 350 may, in turn, activate the motor 352 to translate the ram 344 into the emptied position. Accordingly, the pressure sensor can also be used to automatically activate motor 352 upon docking the robotic vacuum cleaner 104 at the docking station 108.

In some cases, the activation unit 360 can be the same as activation unit 288 (FIGS. 7-11), used for controlling opening of the dirt bin door 212. Accordingly, a single activation unit can be used to control opening of the dirt bin door 212, and translating ram 344 into the dirt emptying position.

While the use of wires has been discussed herein for issuing activation signals, it will be appreciated that signals may be sent otherwise, such as by using Bluetooth™.

Alternately, the electric motor may be electro-mechanically activated. Accordingly, the electric motor 352 may be actuated to commence a dirt emptying cycle of the robot dirt bin 176 upon a user actuating a switch, such as a foot pedal (see for example FIG. 12). Generally, the embodiment exemplified in FIG. 12 operates analogous to the embodiment of FIG. 10, with the exception that the activation unit 360 is activated mechanically by a user, rather than being automatically activated upon docking the robot 104. According to this embodiment, the electro-mechanical activation mechanism comprises control unit 350 which is operably connected to electric motor 352 and a manually operated activation switch, such as foot pedal 384 or wirelessly via a smart phone, wherein upon the activation switch being actuated, such as by the user stepping on foot pedal 384, a signal is sent to the control unit 350 which then actuates the electric motor 352 thereby commencing an emptying cycle.

In the exemplified embodiment, a foot pedal 384 is rotatably mounted to the rear end 160 of the vacuum body 140, via a rotating cylinder 404 (FIG. 12C). Rotating cylinder 404 can rotate about an axis 139, transverse to longitudinal axis 138, in order to rotate foot pedal 384 between an initial undepressed storage position (FIG. 12A), and a depressed emptied position (FIG. 12B).

As exemplified in FIGS. 12A and 12B, foot pedal 384 may be drivingly connected to an engagement member 388, via one or more linkage beams 396 a, 396 b. Linkage beams 396 each comprise a first end 3961, attached to the rotating cylinder 404, and an opposed second end 3962, attached to a respective engagement member 388.

As exemplified in FIG. 12A, when the foot pedal 384 is located in the initial undepressed position, the engagement members 388 are disposed below, and spaced away from, activation unit 360, assuming the robotic vacuum cleaner 104 is in the upright position. Engagement members 388 may move a physical switch (e.g., a push button) that causes the control unit to issue a signal, or it may be part of a sensor system (e.g., a proximity sensor or a pressure sensor) that causes the control unit to issue a signal.

As exemplified in FIG. 12B, upon depressing the foot pedal 384 downwardly (i.e., by the user's foot), cylinder 404 is rotated clockwise, and linkage beams 396 are driven upwardly so as to cause at least one of the engagement members 388 to contact activation unit 360. Upon contact, activation unit 360 transmits an activation signal to control unit 350, to cause the unit 350 to translate ram 344 between the storage and emptied positions, as previously described. The activation unit 360 may be de-activated by returning the foot pedal 384 back to the undepressed position and/or by a timer.

In cases where the activation unit 360 comprises a reed switch, the engagement member 388 may comprise a magnet operable to close the reed switch 360 upon contact. In other cases, where the activation unit 360 comprises a pressure sensor, the engagement member can comprise any material that can be used to apply pressure to activate the pressure sensor 360.

Optionally, as exemplified in FIGS. 12A and 12B, a spring 408 is provided for automatically returning the foot pedal 384 back to the initial undepressed position. In the exemplified embodiment, spring 408 is connected between the foot pedal 384, and a laterally portion 412 of housing 140, located above the foot pedal 384. A tension spring or a compression spring may be used. Other biasing members which bias the foot pedal to the storage position may be used.

As exemplified, the compression spring 408 may expand as the user depresses the foot pedal 384. Once pressure is relieved from the foot pedal 384, the compression spring 408 can automatically retract to return the foot pedal 384 back to the undepressed position.

In other embodiments, the activation unit 360 can simply comprise a button, a switch or the like, which is located on an exterior to the robot body 140. The button or switch 360 can be mechanically activated, by a user, to translate the ram 344 between the storage and emptied position.

In a further alternate embodiment, control unit 350 may be wirelessly activated by a signal issued by, e.g., a smart phone or the docking station. Accordingly, when the robotic vacuum cleaner 104 docks the docking station may issue a signal which is received by the control unit 350 and thereby actuates an emptying cycle.

In the embodiment of FIG. 12, sweeping member 344 a may be moveable into the docking station as far as is exemplified in FIG. 10C, or further.

FIG. 13 exemplifies an alternative configuration, wherein the ram 344 is translated between the storage and emptied position using only a mechanical activation mechanism. In this embodiment, the mechanical activation mechanism comprises a manually operated activation switch, such as foot pedal 384, wherein upon the activation switch being actuated, such as by the user stepping on foot pedal 384, an emptying cycle is operated.

In the exemplified embodiment, foot pedal 384 is drivingly engaged to the ram 344, by a linkage system 396. As exemplified, linkage system 396 comprises three connected linkage beams 396 a, 396 b, 396 c. Each linkage beam extends between a respective first end 396 a ₁, 396 b ₁, 396 c ₁ and a respective second end 396 a ₂, 396 b ₂, 396 c ₂. It will be appreciated that, in other embodiments, the linkage system 396 may comprise any other number of connected linkage beams.

As exemplified, first linkage 396 a may have a first end 396 a ₁ which is pivotally connected to the rotating disk 404, and a second 396 a ₂ connected to the second linkage 396 b (i.e., a first end 396 b ₁ of the second linkage 396 b). Second linkage 396 b is, in turn, connected between the first and third linkages 396 a, 396 c. Third linkage 396 c is pivotally connected—at a first end 396 c ₁—to the second linkage 396 b (i.e., a second end 396 b ₂ of the second linkage), and is pivotally connected—at a second end 396 c ₂—to a portion of ram 344. In the exemplified embodiment, the third linkage 396 c can connect to the ram 344 through an axial slot opening 357 extending into the housing cavity 356. As exemplified, in the storage or floor cleaning position (FIG. 13A), third linkage 396 c is angled below the second linkage 396 b.

In order to drive ram 344 into the dirt emptying position (FIG. 13B), foot pedal 384 is depressed downwardly to rotate disk 404 in a clockwise direction. This, in turn, drives upwardly the first linkage 396 a, and further causes the second linkage 396 b to rotate upwardly, and rearwardly. As the second linkage 396 b is driven upwardly and rearwardly, the second linkage 396 b pivots away from the third linkage 396 c, allowing the third linkage 396 c to translate ram 344 into the emptied position. To return the ram 344 back into the storage position, the foot pedal 384 is returned to the initial undepressed state, which causes the linkage system 396 to retract ram 344 back into the storage position.

Preferably, a first biased spring 408 a is provided between the second and third linkages 396 b, 396 c. Spring 408 a is biased in the expanded state, and expands to assist the third linkage 396 c to rotate (e.g., pivot) away from the second linkage 396 b, and in turn, translate ram 344 into the emptied position.

Optionally, a second biased spring 408 b is located below the foot pedal 384, and is used to automatically return the foot pedal 384 back to the undepressed position. As exemplified, the spring 408 b can connect between pedal 384 and a laterally extending portion 412 of the robot housing 140, disposed below the pedal 384. The spring 408 b is compressed as the foot pedal 384 is depressed, and automatically expands as pressure from the foot pedal 384 is relieved. Accordingly, spring 408 b automatically drives the foot pedal 384 into the initial undepressed position, and causes the linkage system 396 to automatically retract ram 344 back into the storage position.

Preferably, where both springs 408 a and 408 b are provided, the spring factor of spring 408 b may be greater than the spring factor of spring 408 a. In this manner, the expansive force of spring 408 a does not overwhelm spring 408 b, thereby inadvertently translating the ram 344 from the storage position to the cleaned position while the foot pedal 384 is not depressed.

While FIGS. 12 and 13 exemplify a foot pedal used in conjunction with an electro-mechanical, or mechanical activation mechanism, it will be appreciated that any other user-actuatable mechanical mechanism can be used in place of a foot pedal and the exemplified driving mechanism so as to drive motion of the ram 344. For example, in some cases, an adjustable lever can be provided in place of the foot pedal 384.

FIG. 14 exemplifies a further alternative embodiment wherein the ram 344 is translated between the storage and emptied positions using a hydraulic or pneumatic activation mechanism. In this embodiment, the hydraulic or pneumatic activation mechanism comprises a container (e.g., a cylinder) which comprises a fluid (which may be a compressed gas) wherein the fluid drives a mechanical member (e.g., ram 344) upon an activation switch being actuated (such as by the robotic surface cleaning apparatus docking at a docking station), thereby commencing an emptying cycle. The fluid may be pressurized in which case the activation switch may open a valve enabling the compressed fluid to drive, e.g., a ram 344. Alternately, the docking of the robotic surface cleaning apparatus docking at a docking station may drive the fluid to thereby drive, e.g., the ram 344. As exemplified in FIG. 14A, ram stem 344 b is slidably received inside of a cavity formed by cylinder 356 a. Cylinder 356 a extends between a first open end 356 a ₁, and an axially opposed second open end 356 a ₂. The second end 356 a ₂ is fluidically coupled, via a connecting tube 356 b, to a piston cylinder 356 c.

Piston cylinder 356 c also extends, along an axis parallel to axis 138, between a first and second open end 356 c ₁, 356 c ₂, respectively. As exemplified, the first open end 356 c ₁ is located at a front end 156 of the robot housing, and slidably receives a piston 416. The second open end 356 c ₂ is connected to the tube 356 b. The piston 416 includes a planar piston portion 416 a sized to fit inside of the piston cylinder 356 c, and an axially extending piston rod 416 b, which in the floor cleaning or storage position, may at least partially protrude from an opening 419 located at the front end 156 of the robotic vacuum housing 140.

The connected system 356 may be filled with pressurized gas (e.g., a pneumatic system), or a pressurized fluid (e.g., a hydraulic system).

In the storage or floor cleaning position (FIG. 14A), ram stem 344 b is, at least partially, disposed inside of cylinder 356 a, while the piston rod 416 b is, at least partially, disposed outside of piston cylinder 356 c. Further, the planar piston portion 416 a is recessed toward the second end 356 c ₂ of the piston cylinder 356 c. As exemplified in FIG. 14B, upon docking the robot 104, an axial end of the piston rod 416 b engages a wall of the docking station 108, sealing member 106 and/or a connection interface 264, and axially translates the piston planar portion 416 a across at least a portion of the axial length of the piston cylinder 356 c toward the first piston cylinder end 356 c ₁. This, in turn, generates a build-up of positive pressure in the connected system 356, and causes the pressurized medium to flow through tube 356 b, and eject ram stem 344 b out of cylinder 356 a.

To retract the ram 344 back to the floor cleaning or storage position, a user may extract the piston rod 416 b such as to translate the piston planar portion 416 a back toward the second cylinder end 356 c ₂. For example, a user can extract the piston rod 416 b after undocking the robot 104. In particular, extracting the piston 416 results in a buildup of negative pressure in the connected system 356, and in turn, causes the ram stem 344 b to retract back into the cylinder 356 a.

Optionally, a biasing spring 602 may be provided to automatically return the piston 416 and ram 344 into the floor cleaning or storage position. The biasing spring 602 may be disposed between a flange 417 located along the piston rod 416 b and a wall segment 604 located inside the robot housing 140. The biasing spring 602 can be biased into the expanded position. Accordingly, in the docked position (FIG. 14A) the biasing spring 602 may be compressed, and upon un-docking the robot vacuum 104, the biasing spring 602 may automatically expand to drive the piston 416 back into the storage or floor cleaning position.

It will be appreciated that the piston may be actuated by an activation switch 288 and the movement of piston 416 may be driven by an electric motor.

Referring now to FIGS. 15-16, which exemplify embodiments of a mechanical dirt transfer mechanism that is located inside of the docking station 108, rather than the robotic vacuum cleaner 104. The mechanical dirt transfer mechanism exemplified in FIGS. 15-16 can be used alone, or in conjunction with the any of the dirt transfer mechanisms, previously exemplified in FIGS. 10-14. According to such an embodiment, a mechanical transfer member 344 is extended from the docking station through the inlet of the docking station 108 and the dirt outlet 168 of the robot 104 into the robot dirt bin 176, optionally to the rear end 176 b of the robot dirt bin. The member may then be reconfigured to pull or draw dirt from the robot dirt bin 176 into the docking station 108. In accordance with such an embodiment, the member 344 that is inserted into the robot dirt bin 176 may be configured (during the insertion stage of a cleaning cycle), to pass, e.g., through or above the dirt in the robot dirt bin 176. Upon completion of the insertion stage, the inward end of the member may be reconfigured so as to engage of pull dirt out of the robot dirt bin 176 during the retraction stage of the cleaning cycle.

As best exemplified in FIG. 15A, docking station 108 may include two compartments, a first compartment 108 a for containing the dirt receptacle 248, and a second compartment 108 b for housing the mechanical dirt transfer mechanism 344. In the exemplified embodiment, the second compartment 108 b is arranged rearward, and in parallel to the first compartment 108 a (i.e., on an opposite side of the first compartment 108 a from the docking station opening 262 a).

As exemplified, an inter-compartment opening 262 b is disposed between the first and second compartments 108 a, 108 b, and is provided to allow the dirt transfer mechanism to extend into and through the dirt receptacle 248. Optionally, an openable door 2722 covers the secondary opening 262 b, and is pivotally connected inside the docking housing 110 by a hinge 274 b.

As further exemplified, the dirt receptacle 248 can also include a secondary opening 252 b, which aligns with the inter-compartment opening 262 b. As exemplified, secondary opening 252 b is located on an opposite lateral face of the dirt receptacle 248 from the opening 252 a, which aligns with the primary docking station opening 262 a. Similar to the primary opening 252 a, a flap (or door) 254 b may cover, or seal, secondary opening 252 b. In some cases, openable door 2722 of inter-compartment opening 262 b may not be provided, and only the receptacle flap (or door) 254 b included.

Similar to the embodiments previously exemplified in FIGS. 10-14, the dirt transfer mechanism 344 in FIG. 15 can comprise a “ram”-like mechanism 344. As best exemplified in FIG. 15A, ram 344 includes a drive member 344 b (e.g., ram stem 344 b) which extends between a first open end 344 b ₁ and a second open end 344 b ₂. In the exemplified embodiment, the ram stem 344 b is formed from a flexible hollow member.

Ram 344 is driven between a storage position (FIG. 15A) and one or more dirt emptying positions (FIGS. 15B-15D) using rotating gears 348 a, 348 b. Similar to the gear 348 exemplified in FIG. 11, each gear 348 a, 348 b is driven by respective motors 352, via a motor shaft 352 a (not illustrated). Further, each motor 352, controlling each gear 348, may in turn be controlled by a respective control unit 350 a, 350 b. While two gears 348 are exemplified in FIG. 15, it will be understood that any number of gears can be provided to translate the ram 344.

In the storage position (FIG. 15A), a portion of stem 344 b may be oriented generally vertically (i.e., transverse to axis 138), such that the first end 344 b ₁ is positioned above the second end 344 b ₂. An advantage of this configuration is that the ram 344 can be stored in a vertically-configured compartment 108 b, which can help reduce the depth of the docking station 108, and minimize its occupied storage space. In other cases, ram 344 b can be configured to be stored horizontally (e.g., along axis 138 or transversely). Alternately, or in addition, it will be appreciated that the ram stem 344 b may be a telescoping member.

As further exemplified, ram stem 344 b is axially lined with grooves 346, which engage gears 348 a, 348 b, respectively. As exemplified, gears 348 are positioned on opposite longitudinal edges of ram stem 344 b. The engagement of grooves 346 with gears 348 allows gears 348 to translate the stem 344 b between the storage and one or more dirt emptying positions.

As best exemplified in FIG. 15A, a cable 444 extends inside, and through the hollow interior of stem 344 b, between a first cable end 444 a and a second cable end 444 b (e.g., like a Bowden cable). The first cable end 444 a is wound around a spool 450, which is in turn, rotated by a spool motor 448. Spool motor 448 is used to wind or unwind the spool 450, and is controlled by control unit 350 c, via wire 365 c. In the exemplified embodiment, control unit 350 c is connected, e.g., via wire 472, to control units 350 a, 350 b in order to synchronize spool motor 448 with gear motors 352. As further exemplified, the second cable end 440 b is connected to a foldable sweeping portion 344 a of ram 344.

FIGS. 16A-16B exemplify an embodiment of a reconfigurable end of the ram stem 344 b, which as exemplified is a foldable sweeping portion 344 a. The sweeping portion 344 a is reconfigurable between an insertion position (FIG. 16A) and a sweeping position (FIG. 16B).

As exemplified, foldable sweeping portion 344 a includes a first sweeping member 344 a ₁ and a second sweeping member 344 a ₂, each pivotally attached to a holding member 626 by a respective hinge 456 a, 456 b. In the insertion position (FIG. 16A), the first sweeping member 344 a ₁ is folded to overlie the second sweeping member 344 a ₂. Additionally, in the insertion position, the sweeping portion 344 a may be nested inside the hollow interior of stem 344 b, proximal the second end 344 b ₂ of hollow stem 344 b.

In the sweeping position (FIG. 16B), the sweeper 344 a is ejected (e.g., pushed out) of the hollow stem 344 b by cable 444. This, in turn, allows the first sweeping member 344 a ₁ to fold outwardly relative to the second sweeping member 344 a ₂. In the exemplified embodiment, the second sweeping member 344 a ₂ is positioned below both the first sweeping member 344 a ₁ and the ram stem 344 b in the folded-out sweeping position.

Optionally, hinges 456 can be configured as a spring hinges that are biased to the expanded position. In this configuration, hinges 456 can automatically fold out the sweeper 344 a, when the sweeper 344 a is ejected from the hollow stem 344 b.

While the exemplified embodiment illustrates a two-piece sweeper 344 a, it will be appreciated that in other cases, the sweeper 344 a may have any number of foldable or reconfigurable pieces such that the sweeper may be inserted in an insertion configuration into the robot dirt bin 176 and then reconfigured to a sweeping configuration to remove dirt from the robot dirt bin 176 as the mechanical transfer member is retracted into the docking station. For example, in some cases, the sweeper 344 may comprise only one of the portions 344 a ₁, 344 a ₂.

As exemplified in FIGS. 15B-15C, during docking of the robotic vacuum cleaner 104, the ram 344 is extended into the dirt emptying position to commence emptying the robot dirt bin 176. In particular, ram stem 344 b is extended across the first compartment 108 and dirt receptacle 248, and into the robot dirt bin 176. In some cases, ram 344 may only extend part-way through the first compartment 108 and receptacle 248.

To translate ram 344 into the dirt emptying position, control units 350 a, 350 b can activate motors 352 to rotate gears 348 a, 348 b. In some cases, to prevent over extension of ram 344 b, control units 350 a, 350 b can control motors 352 to only rotate gears 348 a pre-determined number of rotations. Any activation mechanism discussed herein may be used.

As the ram stem 344 b is translated into the dirt emptying position (FIG. 15B), that is optionally proximate the rear end of the robot dirt bin 176, spool motor 448 can unwind cable 444 at the same rate as ram stem 344 b. This allows cable 444 to push forward the sweeping portion 344 a at the same rate as ram stem 344 b (FIG. 15B). In the exemplified embodiment, control units 350 a, 350 b and 350 c may be coordinated to synchronize rotation of gear motors 352 and spool motor 448.

As exemplified in FIG. 15C, ram stem 344 b can open docking station doors 2721 and 2722, as well as robot bin door 212, as it is being translated into the emptied position.

Once the ram stem 344 b is translated into the dirt emptying position (FIG. 15C), control units 350 a, 350 may stop rotating gear motors 352. Spool motor 448, however, may continuing unwinding cable 444 to eject the foldable sweeper 344 a out of the hollow stem 344 b from the insertion position (FIG. 15B) to the sweeping position (FIG. 15C). It will be appreciated that an advantage of folding the sweeper 344 a in the sweeping position, only once the ram is in the dirt emptying position, is to prevent the sweeper 344 a from pushing dirt into the robot dirt bin 176 as the stem 344 b is being translated into the dirt emptying position.

In order to retract the ram 344 back to the storage position (FIGS. 15D-15E), control units 350 a, 350 b reverse rotation of gears 348. Gear motors 352 and spool motor 448 can be synchronized, e.g., via control units 350, to ensure cable 444 is retracted at same rate as ram stem 344 b. As sweeping portion 344 a is being retracted by cable 444, it may “drag” (e.g., transfer) dirt from the robot dirt bin 176 and into the dirt receptacle 248.

As exemplified in FIG. 15E, prior to returning the ram stem 344 b into storage compartment 108 b, spooling motor 448 can first wind back cable 444. This, in turn, draws the sweeping portion 344 a back into the folded storage position, inside the hollow stem 344 b. Gear motors 352 may then continue rotating gears 348 until the ram stem 344 b is received inside the compartment 108 b.

The dirt transfer mechanism exemplified in FIG. 15 can be activated in any suitable manner and may use any activation switch discussed herein. In the exemplified embodiment, the control units 350 are automatically electrically activated upon docking the robot 104. For instance, as exemplified in FIG. 15A, control units 350 are connected, e.g., via wire 364, to activation unit 360. Activation unit 360 is located at the front end 124 of docking housing 110. Upon docking robot 104, the activation unit 360 is activated, and transmits an activation signal to control units 350. This, in turn, causes the control units 350 to activate gear motors 352 and spool motor 448.

(b) Pneumatic Dirt Transfer Mechanism

Alternately, or in addition to mechanically transferring dirt from the robot dirt bin to the dirt receptacle 248, pneumatic transfer may be provided. Accordingly, a suction and/or blowing device may be positioned in any one or more of the robotic vacuum cleaner 104 (FIGS. 17-20), docking station 108 (FIGS. 21-24) and/or at a connection interface 264 provided between the docking station 108 and a docked robotic vacuum cleaner 104 (FIGS. 25-29).

For example, air may be blown through part or all of the robot dirt bin to move or assist in moving dirt into the docking station. The suction motor to direct air through the robot dirt bin may be provided at any location, such as in the docking station, a connection interface 264 or the robotic surface cleaning apparatus. The suction motor 180 of the robotic vacuum cleaner that is used in a cleaning operation may be used for such pneumatic transport. Alternately, a secondary suction motor may be provided inside the robotic vacuum cleaner, which may operate to provide a slower air flow rate than the suction motor 180, may be used to provide such pneumatic transport during an emptying cycle.

Alternately, air may be drawn out of the robot dirt bin. The suction motor 180 of the robotic vacuum cleaner that is used in a cleaning operation may be used for such pneumatic transport. Alternately, a secondary suction motor may be provided inside the robotic vacuum cleaner, which may operate to provide a slower air flow rate than the suction motor 180, may be used to provide pneumatic transport during an emptying cycle. An advantage of such a design is that the docking station need not have a separate suction motor, which may simplify the construction of the docking station. In accordance with such a design, the suction motor of the robot vacuum cleaner, whether the primary suction motor 180 and/or a secondary suction motor, may be operable to blow air through part or all of the robot dirt bin 176 during an emptying cycle.

As exemplified in FIGS. 17-20, the suction motor used for such pneumatic dirt transport may be located inside of the robotic vacuum cleaner 104.

FIG. 17 exemplifies a first embodiment for a pneumatic dirt transfer mechanism that is located inside of the robotic vacuum cleaner 104 and that uses the suction motor 180 of the robotic vacuum cleaner 104 in a dirt emptying mode. In accordance with such an embodiment, one or more valves may be used to reconfigure the air flow induced by the suction motor 180 through the robotic vacuum cleaner 140 between a primary floor cleaning air flow path (used during a floor cleaning mode of operation) and a secondary dirt emptying air flow path (used in a dirt emptying mode).

In the exemplified embodiment, suction motor 180 is connectable in fluid flow communication with a primary or cleaning airflow path 184 a (FIG. 17A), and a secondary or dirt emptying airflow path 184 b (FIG. 17B).

As exemplified in FIG. 17A, the primary flow path 184 a may be used during normal cleaning operation when the robotic vacuum cleaner 104 is operating in a floor cleaning mode. The primary flow path 184 a and can extend between a dirty air inlet 172 (as exemplified in FIG. 3) and the clean air outlet 196. During the floor cleaning mode, air is drawn through the dirty air inlet 172 via the primary path 184 a to the robot dirt bin 176, via dirt inlet 188, and then out the robot dirt bin 176 through a first air passage 192 a via air outlet 206, and then continues downstream to an inlet of suction motor 180. Air is then ejected from the suction motor 180 to the clean air outlet 196, via a second air passage 192 b.

As exemplified in FIG. 17B, to transfer dirt and debris from dirt bin 176, air exiting suction motor 180, the robotic vacuum cleaner 104 may be operated in a dirt emptying mode whereby air flow may be re-directed back into the robot dirt bin 176 along the secondary airflow path 184 b. Second air flow path 184 b comprises a third air passage 192 c, which connects the suction motor 180 outlet to an air inlet 484 of the robot dirt bin 176 (also referred to herein as dirt collection region air inlet port 484). The end of the passage 192 c located at the downstream side of the suction motor 180 may be regarded as an inlet end of the secondary air flow path 184 b (e.g., a secondary air flow path air inlet). Preferably, as exemplified, air inlet 484 is positioned at a rear-end 176 b of the dirt bin 176. In this configuration, air exiting inlet 484 can blow dirt and debris toward the front-end of the dirt bin 176, and into the docking station 108. A filter medium 488 and/or an openable door may cover the air inlet 484 to prevent a backflow of dirt from entering air passage 192 c, during normal cleaning operation.

As exemplified, two valves (a first valve 478 a and a second valve 478 b) are provided to re-direct airflow between the primary and secondary airflow paths. As exemplified, the first valve 478 a may be located in the second air passage 192 b, while the second valve 478 b may be located in the third airflow passage 192 c.

As exemplified in FIG. 17A, during the floor cleaning mode of operation, the first valve 478 a is opened while the second valve 478 b is closed. This configuration blocks airflow from entering air passage 192 c (i.e., into dirt bin 176), and directs air toward the clean air outlet 196 (i.e., along the primary airflow path 184 a).

As exemplified in FIG. 17B, when it is desired to empty the dirt bin 176 to operate the robot vacuum 104 in a dirty emptying mode, the valve configuration is reversed, such that the first valve 478 a is closed, and the second valve 478 b is opened. In this manner, airflow is re-directed, through air passage 192 c, into the dirt bin air inlet 484 (i.e., along the secondary airflow path 184 b). Accordingly, the valves 478 can be used to selectively connect the secondary air flow path 184 b in fluid flow communication with the suction motor 180. As exemplified, as air is directed into the robot dirt bin 176, it may push dirt collected inside the robot dirt bin 176 forwardly through the robot dirt outlet 168, and into the docking station 108. Optionally, as exemplified, the docking station 108 may include a clean air outlet 608. Air flow into the docking station may exit through the clean air outlet 608, via an opening 612, and into the ambient surrounding. A filter media 608 may be located to prevent dirt plumes from forming as a result of air-entrained dirt being carried through the outlet 610. While the illustrated embodiment shows the clean air outlet 608 as being located at an upper end 116 of the docking station 108, in other embodiments, the clean air outlet 608 may be located at any other suitable location.

While the exemplified embodiment illustrates two valves, it will be appreciated that any number of valves can be provided. For example, a single three-way valve can be used to re-direct air between the clean air outlet 196 and the robot dirt bin 176.

FIGS. 17C and 17D exemplify an embodiment of the valve 478. In the exemplified embodiment, each valve 478 comprises a butterfly valve. In the open position (FIG. 17C), the valve 478 is rotated in an axis generally parallel to an axis 193 of passage 192. In this position, airflow passes through air passage 192. As exemplified in FIG. 17D, the valve 478 can be closed by rotating the valve such that it is generally transverse with the passage axis 193. In this orientation, airflow is blocked from passing through the passage 192.

It will be appreciated that while the exemplified embodiment illustrates butterfly valves, any other suitable valves known in the art may also be used. For instance, valves 478 can comprise ball valves, gate valves or check valves, or otherwise, any switch mechanism capable of diverting and re-directing airflow.

In the exemplified embodiment, motors 3521, 3522 are provided to rotate valves 478 a, 478 b, respectively, between the open and closed positions. As illustrated in FIGS. 17C and 17D, valves 478 a, 478 b are mounted to drive shafts 352 a ₁, 352 a ₂ of motors 3521, 3522, respectively, allowing motors 352 to rotate the valves 478.

Motors 352 may be activated in any suitable manner to re-configure the valves 478 between the open and closed positions. For instance, as explained previously with respect to FIGS. 10-16, an activation unit 360 can be provided to activate motors 352, via control unit 350. Any activation mechanism discussed herein may be used. For example, activation unit 360 may be automatically activated upon docking robot 104, or otherwise.

While the embodiment of FIGS. 17A and 17B exemplify the first airflow conduit 192 a being the source of air used in the dirt emptying mode, it will be appreciated that the source of air may be located elsewhere, such as a location downstream from dirt outlet port 168 during the emptying mode (e.g., in an interface 264 as exemplified in FIG. 19A or in the docking station or on an outer surface of the robotic surface cleaning apparatus). In such a case, a further valve may be used to connect the suction motor 180 inlet end to such a source of air.

FIGS. 18A-18B exemplify an alternative embodiment of a pneumatic dirt transfer mechanism that also uses the suction motor 180 of the robotic vacuum cleaner 104. In contrast to the configuration of FIGS. 17A-17B, the secondary flow path 184 b in FIG. 17 extends between an upstream side of the suction motor 180, and an air inlet 484 of the robot dirt bin 176. In the floor cleaning mode (FIG. 18A), the valve switch 478 a is opened, while the valve switch 478 b is closed and the suction motor 180 may drive an internal fan blade in a first direction to drive the flow of air along the primary air flow path 184 a. That is, the flow of air is driven from the robot dirty air inlet 172, through the robot dirt bin 176 and to the clean air outlet 196. In the dirt emptying mode (FIG. 18B), the valve switch 478 a is closed, while the valve switch 478 b is opened. The direction of rotation of the internal fan blade of suction motor 180 is then reversed such that the suction motor 180 inlet is now an air outlet. In this configuration, the flow of air is driven from the air inlet 196, through the air passage 192 c and into the robot dirt bin 176 via the air inlet 484. The air being blown into the robot dirt bin 176 from air inlet 484 may push collected debris out of the robot vacuum cleaner via dirt outlet 168. Optionally, as exemplified, operation of the suction motor 180 between the floor cleaning and dirty emptying mode can be controlled by the activation unit 350, via a connecting wire 628. It will be appreciated that this embodiment may utilize any motor and fan blade assembly that, in a first mode of operation, directs air in a first direction and, in a second mode of operation, directs air in another (e.g., the opposite) direction. It will also be appreciated that while this embodiment exemplifies the use of air outlet 196 as the source of air in the dirt emptying mode, the source or air may be an alternate inlet port. In such a case, a further vale may be used to connect the suction motor 180 to such a source of air.

FIGS. 19A-19C exemplify still an alternative embodiment of a pneumatic dirt transfer mechanism that also uses the suction motor 180 of the robotic vacuum cleaner 104. The exemplified embodiment of FIG. 19 also operates generally analogous to the embodiment exemplified in FIG. 17, with the exception that re-directed airflow is entering the suction motor 180, rather than exiting the suction motor 180. According to such an embodiment, air is drawn by suction motor 180 out of the dirt outlet port 168 of the robot dirt bin 176.

In the exemplified embodiment, the third airflow conduit 192 c extends between a first end 192 c ₁ and a second end 192 c ₂. The first end 192 c ₁ connects to the first airflow conduit 192 a, which directs air into the suction motor 180 inlet. The second end 192 c ₂ is an open end provided at, e.g., a front end 156 of the robotic vacuum cleaner 104.

As further exemplified in FIG. 19B, the docking station 108 also includes an air passage 520. Air passage 520 comprises an air outlet end 520 a, disposed at a front end 124 of the docking station housing 110, along the upright section 112, and an air inlet end 520 b, provided at the docking station opening 262. It will be appreciated that inlet end 520 b may be located anywhere on interface 264 or the docking station.

In the exemplified embodiment, the first valve 478 a is located inside the first air passage 192 a, while the second valve 478 b is located inside the third air passage 192 c.

As exemplified, during the floor cleaning mode of operation (FIG. 19A), the first valve 478 a is open, and the second valve 478 b is closed. In this configuration, airflow travels along the primary airflow path 184 a, from the robot dirty air inlet 172, through the robot dirt bin 176 to the suction motor 180 inlet, and out of the clean air outlet 196.

Upon docking the robotic vacuum cleaner 104, the vacuum cleaner 104 is operated in a dirty emptying mode whereby the second open end 192 c ₂ of air passage 192 c, engages (e.g., abuts) the outlet end 520 a of docking station passage 520 (FIG. 19B). The first valve 478 a is then closed, and the second valve 478 b is opened.

In this configuration, air is drawn by suction motor 180 through air inlet 520 b, and flows along a secondary airflow path 184 b comprising the docking station air passage 520 and the third air passage 192 c, and toward the suction motor 180. In the exemplified embodiment, the suctioning of air through inlet 520 b, draws dirt and debris out of the robot dirt bin 176, and into the docking station 108. Preferably, as exemplified, docking station air inlet 520 b is directed to face the robotic vacuum cleaner 104, in order to draw air from the dirt bin 176.

Preferably, as exemplified, the configuration in FIG. 19B is used in conjunction with a secondary (e.g., mechanical) dirt transfer mechanism, such as a mechanical ram 344 provided inside of the robot 104. In this configuration, the ram 344 can be used to push dirt and debris toward the front end of dirt bin 176, and the suction at inlet 520 b can further facilitate drawing the dirt inside the docking station 108.

It will be appreciated that in the dirt emptying mode of operation, the suction motor 180 may operate at a slower speed so as to limit the dirt which is entrained in an air stream and drawn into air passage 192 c.

As exemplified, sealing members 197 a, 197 b can be provided around the second end 192 c ₂ of air passage 192 c, and the outlet end 520 a of docking station air passage 520, respectively. The sealing members 197 can comprise a gasket or the like, and can prevent air leakage between air passage 192 c and air passage 520 during an emptying cycle. As further exemplified, a filter medium 527 may optionally cover the docking station air inlet 520 b to prevent dirt and debris from entering the air passage 520.

Optionally, as exemplified in FIGS. 19B and 19C, bellows 106—is disposed between the docking station 108 inlet 262 and the robotic vacuum cleaner 104 dirt outlet port 168 which—may include one or more openings or perforations 540 extending therethrough. As exemplified in FIG. 19B, as air is being drawn through air inlet 520 b, the reduced pressure in the dirt transfer passage (the passage between outlet port 168 of robotic vacuum cleaner 104 and opening port 262 of the docking station 108) can draw ambient air through the gasket perforations 540. An advantage of this configuration is that dust or dirt, which may escape during an emptying cycle of the robot dirt bin 176, can be drawn back through the gasket perforations 540. In particular, this can prevent formation of dust plumes around the combined apparatus 100. In other embodiments, rather than providing a bellows 106, any other sealing member (e.g., a gasket) having one or more openings can be provided.

As exemplified in FIGS. 20A and 20B, the pneumatic dirt transfer mechanism may use a second suction motor located inside the robotic vacuum cleaner 104, which differs to the suction motor 180 of robotic vacuum cleaner 104 that is used during the floor cleaning mode of operation. Accordingly, the robotic vacuum cleaner 104 may comprise a suction motor 180 for use in a floor cleaning mode and a suction motor for use in a dirt emptying mode. In the exemplified embodiments, the suction motor for use in the dirt emptying mode can be located either outside of the robot dirt bin 176 (FIG. 20A), or inside of the robot dirt bin 176 (FIG. 20B).

As exemplified in FIG. 20A, suction motor 504 is positioned rearward of the dirt bin 176, and within a secondary airflow path 184 b. The secondary airflow path 184 b extends between an inlet end 196 c ₁ of air passage 192 c, located on the exterior of robot body 140, and air inlet 484 of robot dirt bin 176.

Upon activating suction motor 504, ambient air is drawn through the air inlet 196 c ₁ and into air passage 196 c. The air may then flow downstream, through the conduit 196 c, to a second end 196 c ₂ of the air passage, positioned at the suction motor 504 inlet. Suction motor 504 then ejects the suctioned air into the dirt bin 176, via the dirt bin inlet 484, so as to blow (e.g., eject) dirt and debris out of the bin 176, and into the docking station 108 via the dirt outlet port 168 of the robotic vacuum cleaner 104.

In the exemplified embodiment, a filter media 486 can cover the air inlet 192 c ₁ to prevent dirt and debris from being suctioned into air passage 192 c from the ambient surrounding. Preferably, as exemplified, air inlet 484 is also positioned at a rear end 176 b of the bin 176, so as to blow dirt forwardly, toward an opened front end 176 a of bin 176.

FIG. 20B exemplifies a similar configuration to FIG. 20A, with the exception that the suction motor 504 is now positioned inside the robot dirt bin 176, and forward of the dirt bin air inlet 484.

In the exemplified configuration, the dirt bin air inlet 484 is contiguous with the second end 192 c ₂ of the air passage 192 c. Suction motor 504 draws air through the inlet 484, and directs the air directly into the dirt bin 176. Optionally, as exemplified, the filter medium 488 can be positioned forward of the suction motor 504, to prevent dirt and debris from clogging the suction motor 504 fan during normal cleaning operation.

In the configurations exemplified in FIGS. 20A and 20B, the suction motor 504 can be activated in any suitable manner and may use any activation mechanism discussed herein. For instance, as exemplified, suction motor 504 can be controlled by a control unit 350 (e.g., via wire 365), which is in turn, connected to an activation unit 360 (e.g., via wire 364). Activation unit 360 can function as previously exemplified with respect to FIGS. 10-12. In various cases, upon receiving an activation signal from activation unit 360 (i.e., at docking), control unit 350 can activate suction motor 504 for all or a portion of the time during which robotic vacuum cleaner 104 is docked. In other cases, control unit 350 can activate suction motor 504 for only a pre-determined interval of time before de-activating the suction motor. In some cases, suction motor 180 can be turned off prior to activating suction motor 504 (i.e., using power switch 164 in FIG. 2).

It will be appreciated that, in any embodiment wherein air is blown through the robot dirt bin, the air inlet and air outlet may be located at any location. Optionally, as exemplified, the air is directed linearly through the robot dirt bin. Accordingly, the air inlet and the air outlet may be spaced apart and face each other. For example, as exemplified in FIGS. 17A, 17B, 18A, 18B, 20A and 20B, optionally, the air inlet and the air outlet in the dirt emptying mode are on opposed sidewalls such that air is blown over the floor of the robot dirt bin from one end to the other.

Referring now to FIGS. 21-24, which exemplify various embodiments for a suction motor 504 positioned inside the docking station 108, rather than robotic vacuum cleaner 104. It will be appreciated that the exemplified embodiments can be used separately, or in conjunction with any of the embodiments previously exemplified in FIGS. 17-20.

FIGS. 21A-21B exemplify a first embodiment for a suction motor 504 located inside the docking station 108. As best exemplified in FIG. 21B, docking station 108 includes the suction motor 504, positioned between a first air passage 520 and a second air passage 522.

First passage 520 extends between an inlet end 520 a and an outlet end 520 b. As exemplified, the inlet end 520 a is downward facing and is configured to overlie the robotic vacuum cleaner 104 during docking, while outlet end 520 b feeds into the suction motor 504. The second passage 522 also includes an inlet end 522 a, located at the suction motor 504 outlet, and an outlet end 522 b, located at the docking station opening 262. In the exemplified embodiment, the outlet end 522 b faces into the docking station 108.

As further exemplified in FIG. 21A, robotic vacuum cleaner 104 includes an air passage 192 c. Air passage 192 c includes an inlet end 192 c ₁, positioned proximal the robotic vacuum cleaner outlet port 168, and facing toward dirt bin 176. An outlet end 192 c ₂ of the air passage is provided at an upper end 144 of robot housing 140.

In the exemplified embodiment, when in the docking position (FIG. 21B), outlet end 192 c ₂ of robotic vacuum cleaner 104 aligns with downward facing inlet end 520 a of the docking station 108. Optionally, sealing members 197 a, 197 b are provided at the outlet end 192 c ₂ and inlet end 520 a, respectively.

Upon activating suction motor 504 (e.g., using activation unit 360) (FIG. 21B), air is drawn from the robot dirt bin 176, via the air inlet 192 c ₁, and through passages 192 c and 520. The suction force at the air inlet 192 c ₁ draws dirt and debris out of the dirt bin 176, and directs it towards the robot outlet port 168. As exemplified, air drawn by suction motor 504 is then drawn into the docking station opening 262 via the air outlet 522 b. The air blown out of outlet 522 b facilitates pushing the dirt and debris that has been drawn from robot dirt bin 176 into the dirt receptacle 248.

Such an embodiment may be used in conjunction with a mechanical dirt transfer system. The suction motor 504 may operate at a relatively low level of suction so as to assist with the dirt transfer.

FIGS. 22A-22B exemplify an alternative configuration for a suction motor 504 located inside of the docking station 108 wherein suction motor 504 is used to blow air through the robot dirt chamber. The exemplified arrangement is generally analogous to FIGS. 21A-21B, with the exception that: (i) suction motor 504 is inverted to draw air through inlet 522 b, and eject air through outlet 520 a; (ii) air inlet 522 b is directed toward the docked robotic vacuum cleaner 104 and (iii) air outlet 520 a is located at a front end 124 of docking station 108, along upright section 112, and faces forwardly.

Further, in the exemplified embodiment, the first open end 192 c ₁ of air passage 192 c, which is inside the robotic vacuum cleaner 104, is located at the front end 156 of the vacuum body 140, while the second open end 192 c ₂ is positioned at the air inlet 484 of robot dirt bin 176.

Upon docking the vacuum cleaner 104 (FIG. 22B), the open end 192 c ₁ of air passage 192 c, aligns with the outlet end 520 a of the docking station 108. The activated suction motor 504 draws air through inlet 522 b and passage 522, and ejects the air through passages 520 and 192 c, and into the robot dirt bin 176 via air inlet 484. Accordingly, air exiting the dirt bin inlet 484 can push dirt, forwardly, out of the dirt bin 176, and toward the docking station 108. The complementary suction force at inlet 522 b may further assist in drawing dirt and debris into the docking station 108.

Optionally, as exemplified, a sealing member 106, having one or more perforations 540, can be provided between the docking station 108 and the robotic vacuum cleaner 104.

FIG. 23 exemplifies still a further alternative configuration for a suction motor 504 located inside of the docking station 108. The exemplified configuration of FIG. 23 is generally analogous to the configuration previously exemplified in FIG. 22, with the exception that the suction motor 504 ejects air, from outlet 522 a, directly into the ambient surrounding. Accordingly, in this configuration, an airflow passage 192 c is not required inside of the robotic vacuum cleaner 104.

Preferably, in the exemplified configuration, a secondary (e.g., mechanical) dirt transfer mechanism (e.g., ram 344 inside robot 104) is provided to facilitate pushing of dirt and debris toward the suction point 522 b, and further into the dirt receptacle 248.

FIGS. 24A-24B exemplify still a further alternative configuration for a suction motor 504 inside of the docking station 108. In this embodiment, the suction motor 504 configuration exemplified in FIGS. 24A-24B is analogous to the configuration previously exemplified in FIG. 23, with the exception that the suction motor 504 is: (i) inverted to suction ambient air through an inlet 520 a, and eject air through an outlet 522 b; and (ii) the air outlet 522 b is directed into the docking station 108, so as to blow dirt and debris toward the dirt receptacle 248. In the exemplified embodiment, air inlet 520 a is provided at the front end 124 of docking station 108, along the upright section 112.

An advantage of the exemplified configuration is that the suction motor 504 can be used to draw air-borne containments, which escape when emptying robot bin 176 into docking station 108.

In particular, as exemplified, suction point 520 a can include a filter media 527 a, which can be used to capture air-borne contaminants which escape while emptying the robot dirt bin 176. Once the suction motor 504 is de-activated, dirt collected on filter media 527 a may, for example, collapse on the surface located around the docking station 108. The collapsed dirt may then be swept and cleaned by a user. As exemplified in FIG. 24B, the suction motor 504 can also be used to prevent dust plumes from forming while undocking robot 104. For instance, suction motor 504 can be activated while un-docking the robot to prevent debris that was not fully transferred, between the dirt bin 176 and docking station 108 during cleaning from becoming air borne. It will be appreciated that the use of a suction motor to reduce or prevent dust plumes for forming upon de-docking may be used in any embodiment disclosed herein.

Optionally, as previously discussed and as exemplified, a secondary (e.g., mechanical) dirt transfer mechanism (e.g., ram 344 inside robotic vacuum cleaner 104) can be provided to facilitate pushing of dirt and debris out of the robot dirt bin 176 and toward the docking station 108. For example, ram 344 may push dirt toward the docking station opening 262, and air being blown out of outlet 522 b can further push the ejected dirt and debris into the dirt receptacle 248.

Alternately, as discussed previously, an interface may be provided between the robotic vacuum cleaner 104 and the docking station 180. The interface may be part of the docking station and may be removably mounted thereto or non-removably mounted thereto. FIGS. 25-29 exemplify various embodiments for a suction motor 504 provided in connection interface 264. The exemplified embodiments can be used separately, or in conjunction with the embodiments previously exemplified in FIG. 17-23.

As best exemplified in FIG. 24, the connection interface 264 can comprise a housing portion 264 a for housing suction motor 504, and a passage portion 254 a which extends between a first open end 264 b ₁ and a second open end 264 b ₂. As exemplified, the first open end 264 b ₁ aligns with the robotic vacuum cleaner outlet 168 when the robotic vacuum cleaner is docked, while the second open end 264 b ₂ aligns with the docking station opening 262.

In the exemplified embodiment, the housing portion 264 a is positioned above the passage portion 264 b. However, it will be appreciated that in other embodiments, the housing portion 264 a can be positioned at any other location relative to passage portion 264 b. For example, housing portion 264 a can be disposed lateral to, or below passage portion 264 b.

FIG. 25 exemplifies a first embodiment of a suction motor 504 positioned inside the connection interface 264. As exemplified, the suction motor 504 draws (e.g., suctions) ambient air, through the air inlet 520 a. Air flows to suction motor 504 via passage 520. Suction motor 504 ejects the air through airflow passage 522, and into passage portion 264 b of connection interface 264 (e.g., via outlet 522 b). In the exemplified configuration, outlet 522 b is oriented toward the docking station 108, and further is positioned proximal the first open end 264 b ₁ of passage 264 b. In this configuration, air ejected from outlet 522 b can be used to blow dirt and debris from the robot dirt bin 176 into the docking station 108.

Preferably, as exemplified, the configuration exemplified in FIG. 25, is used in conjunction with a secondary (e.g., mechanical) dirt transfer mechanism. For example, as exemplified, ram 344 inside robotic vacuum cleaner 104 can be used to eject dirt out of the robot dirt bin 176, and into the connection interface 264. Air ejected from suction motor 504 is then used to blow ejected dirt, further into the docking station 108.

FIGS. 26-28 exemplify still further embodiments of a suction motor 504 positioned inside the connection interface 264. The embodiment exemplified in FIGS. 26-28 are generally analogous to the exemplified embodiment of FIG. 25, with the exception that: (i) the configuration of suction motor 504 is reversed to suction air from inlet 522 b, and eject air through outlet 520 a; (ii) the air inlet 522 b is directed to face the docked robotic vacuum cleaner 104 in order to suction air from the robot dirt bin 176.

Optionally, a sealing member 106 having one or more perforations 540 can be provided between the connection interface 264 and the robotic vacuum cleaner 104.

In the exemplified embodiment, the air outlet 520 a can be positioned to eject air into the ambient surrounding (FIG. 26), into the docking station 108 (FIG. 27), into the passage portion 264 b (FIG. 28), or into an air passage 192 c located inside of the robotic vacuum cleaner 104, which further directs air into the dirt bin 176, via air inlet 484 (FIG. 29). In particular, the embodiment exemplified in FIG. 28 may operate generally analogously to the embodiment previously exemplified in FIG. 21, with the exception that the suction motor 504 is provided inside the connection interface 264, rather than docking station 108.

It will be appreciated that a mechanical dirt transfer mechanism may be used in conjunction with any pneumatic dirt transfer mechanism.

Dirt Enclosing Member

The following is a discussion of a dirt enclosing member, which may be used by itself or with any one or more of the other features disclosed herein. The dirt enclosing member may be used with a depositing member, which deposits a closed container provided by the dirt enclosing member at a location exterior to the autonomous surface cleaning apparatus.

An advantage of this design is that the efficiency of the autonomous surface cleaning apparatus may be improved. Once the autonomous surface cleaning apparatus is sufficiently full, it may deposit the closed container at the exterior location for a user to retrieve, allowing the autonomous surface cleaning apparatus to continue cleaning. Accordingly, the autonomous surface cleaning apparatus does not need to be emptied manually by a user, nor does it need to return to a docking station to deposit the dirt.

Another advantage is that the autonomous surface cleaning apparatus may continue cleaning for a longer period of time, since it does not need to backtrack to the docking station, thereby improving its battery life. Additionally, since the autonomous surface cleaning apparatus can deposit collected dirt at any time, the autonomous surface cleaning apparatus does not need to stop cleaning once it is full. Instead, the autonomous surface cleaning apparatus can deposit the closed container and continue its cleaning operation.

As exemplified in FIGS. 30-35, the autonomous surface cleaning apparatus 104 has a dirt enclosing member 700 for providing a first closed container 702. Any mechanism which can encase dirt in a closed container may be used.

Optionally, the closed container 702 may be a flexible closed container. Accordingly, as exemplified in FIGS. 30-33, a substrate 704 may be provided which may be formed into a closed container. Substrate 704 may be a plastic material that forms a sealed bag when the dirt enclosing member 700 forms the closed container 702. The substrate 704 may be a linear substrate (e.g., a roll of the substrate 704 may be provided), and the roll of substrate 704 may be unwound to provide a length of substrate that is formed into a bag, which may be sealed as the bag is formed to provide the closed contained 702 or formed into a bag and then sealed to provide the closed container 702. Alternately, the substrate may be in the form of an open bag or pouch that is sealed to form the closed container 702. Accordingly, as the dirt enclosing member 700 forms the closed container 702, the flexible substrate 704 may be sealed shut. For example, the container 702 may be closed by, including, but not limited to, heat sealing, an adhesive, an elastic member, twisting the substrate 704, ultrasonic sealing, or any combination thereof.

In some embodiments, the container 702 may be an open container. As the dirt 730 is received by the substrate 704 into an open end of the container 702, the dirt enclosing member 700 may form the closed container 702 by shutting a lid over the open end of the container 702. The depositing member 720 may then deposit the closed container 702 at the location 800 exterior to the autonomous surface cleaning apparatus 104. Optionally, the open container may be a reusable container. In such an embodiment, the container may be flexible, or it may be sufficiently rigid to maintain its shape. For example, it may be made of a transparent molded plastic, such as polyethylene terephthalate (PET).

It will be appreciated that, as exemplified in FIGS. 30-32, dirt may first be collected and then transferred into the substrate 704. Alternately, as exemplified in FIG. 33, dirt may be collected directly in the substrate 704. In such an embodiment, the container 702 may form a part of the dirt collection region 176. Accordingly, as the autonomous surface cleaning apparatus 104 operates in the cleaning mode, dirt 730 entering the dirt collection region 176 may be positioned directly into the container 702. Once the container 702 is filled to a sufficient level, the container 702 may be closed by the dirt enclosing member 700 (e.g., a lid applied of the walls of the container sealed shut) and the container may then or subsequently be deposited by an optional depositing member 720.

FIGS. 30-32 exemplify an embodiment wherein the dirt enclosing member 700 forms the first closed container 702 from a flexible substrate 704 after a quantity of dirt 730 has been collected in the dirt collection chamber 176 of the autonomous surface cleaning apparatus 104. For illustrative purposes, dirt 730 collected in the dirt collection chamber 176 is shown as circle 730. As shown in the sequence of drawings in FIGS. 30-32, the dirt 730 is positioned in the substrate 704 and the substrate 704 is then sealed shut to form the closed container 702.

As dirt collected in the dirt collection chamber 176 of the autonomous surface cleaning apparatus 104 is to be moved so it may be placed inside the substrate 704, it will be appreciated that the dirt enclosing member 700 may be used in conjunction with any of the dirt transfer mechanism described herein. For example, one of the described dirt transfer mechanisms may be used to expel the dirt 730 from the dirt collection chamber 176 so it may be encased in the substrate 704. Accordingly, the dirt 730 may be transferred in a pouch formed from the substrate 704 and the substrate 704 may subsequently be sealed to form the closed container 702.

As exemplified in FIGS. 30-32, a depositing member 720 is used to deposit the closed container 702 at a location 800 that is exterior to the autonomous surface cleaning apparatus 104. It will be appreciated that the depositing member 720 may be any means of expelling the closed container 702 from the autonomous surface cleaning apparatus 104 to the location 800 exterior to the autonomous surface cleaning apparatus 104. For example, the depositing member 720 may be a ram or sweep that pushes the closed container 702 out of the autonomous surface cleaning apparatus 104. As exemplified in FIGS. 30-32, once the dirt enclosing member 700 provides the first closed container 702, the depositing member 720 subsequently moves the first closed container 702 to the location 800 that is exterior to the autonomous surface cleaning apparatus 104. Optionally, as exemplified in FIGS. 30-32 and 34, the autonomous surface cleaning apparatus 104 may have a storage region 740 in which the autonomous surface cleaning apparatus 104 stores one or more closed containers, e.g., the first closed container 702. The storage region 740 allows the autonomous surface cleaning apparatus 104 to continue its cleaning operation without the need to stop to deposit the dirt container 702. An advantage of this design is that the dirt chamber 176 may be emptied, or mostly emptied, into the container 702 to improve the efficiency of the autonomous surface cleaning apparatus 104, without needing to stop its cleaning operation. In some embodiments as exemplified in FIG. 34, the storage region 740 may be sized to receive a plurality of closed containers 702, including the first closed container 702.

In some embodiments, the dirt enclosing member 700 may provide the first closed container 702 as the depositing member 720 moves the first closed container 702 to the location 800 that is exterior to the autonomous surface cleaning apparatus 104. Accordingly, for example, the substrate 704 may be sealed as the dirt encased in the substrate is moved by the depositing member 720 to the exterior location 800.

As exemplified in FIG. 33, the depositing member 720 is located within the dirt chamber 176. Accordingly, in some embodiments, the depositing member 720 may be one or more of the dirt transfer mechanisms described previously, used for transferring dirt from the dirt chamber 176. As exemplified, the depositing member 720 expels the dirt 730 from the dirt chamber 176 directly into the substrate 704, thereby forming the first container 702 through the dirt enclosing member 700. The substrate may be self-sealing (e.g., it may have a portion with an adhesive which adheres to another portion of the substrate to seal the container when the portions contact each other during the depositing process) or a sealing member (e.g., a thermal sealing member) may be provided. The motion of expelling the dirt 730 from the dirt chamber 176 by the depositing member 720 deposits the closed container 702 at the location 800 exterior to the autonomous surface cleaning apparatus 104. An advantage of this design is that the autonomous surface cleaning apparatus 104 may be of a smaller size than the autonomous surface cleaning apparatus 104 with the storage region 740.

In some embodiments, as exemplified in FIGS. 34-35, the dirt collection region 176 may include the substrate 704 used to form the first closed container 702. For example, as exemplified, the substrate 704 may form part of the dirt collection chamber 176 (e.g., it may line part or all of the dirt collection region 176). Accordingly, for example, the substrate 704 may be in the form of an open container or pouch (e.g., substrate 704 may be positioned to line a cavity or form a cavity in the dirt collection region 176).

In some embodiments, the substrate 704 may be positioned on the bottom of the dirt collection region 176. Once the dirt collection region 176 is filled to a desired level, the sides of the substrate 176 may be raised by the dirt enclosing member 700 to form the closed container 702. The closed container 702 may then be deposited using the depositing member 720. Collected dirt 730 may be deposited into this cavity. Once the container is sufficiently full, the substrate 704 may be closed by any means discussed herein and the closed container may then be moved to a storage region 740 or an exterior location 800. As exemplified in FIG. 34, dirt enclosing member 700 closes the substrate 704 and seals the substrate 704 to form a closed container 702 and then one of the dirt transfer mechanisms may move the closed container 702 with the dirt 730 from the dirt collection region 176 into the storage region 740. The depositing member 720 may then subsequently deposit the closed container 702 at the location 800 exterior to the autonomous surface cleaning apparatus 104.

Optionally, as described above, the depositing member 720 may be located within the dirt collection region 176. As exemplified in FIG. 35, the dirt enclosing member 700 forms the first closed container 702 as the depositing member 720 moves the closed container 702 to the location 800 exterior to the autonomous surface cleaning apparatus 104.

Referring to FIG. 36, shown therein is an exemplary flow chart of a method of cleaning a floor 1000. In this example, the location 800 exterior to the autonomous surface cleaning apparatus 104 is within a room 810 having a floor 812. At act 1010, the autonomous surface cleaning apparatus 104 cleans at least a portion of the floor 812. At act 1020, the autonomous surface cleaning apparatus 104 collects dirt within the dirt chamber 176. At act 1030, at least some of the dirt 730 is enclosed within the first container 702. The closed container 702 is then deposited at the location 800 exterior to the autonomous surface cleaning apparatus 104. It will be appreciated that, in an alternate embodiment, act 1030 may comprise at least some of the dirt 730 is enclosed within the first container 702 and the closed container 702 may be manually removed by a user, e.g., a person may open a lid of the autonomous surface cleaning apparatus 104 and removed the closed container.

As exemplified in FIG. 37, the location 800 exterior to the autonomous surface cleaning apparatus 104 may be one or more of various locations. For example, the location 800 may be in a corner 814 of the room 810, adjacent to a garbage can 820, near a docking station 108, or any other desired location. In some embodiments, the location 800 may be programmed by the user. Accordingly, the user may choose drop zones throughout the room 810 that are desirable for the autonomous surface cleaning apparatus 104 to deposit the closed containers 702.

It will be appreciated that if the autonomous surface cleaning apparatus 104 deposits closed dirt containers 702, then a docking station 108 may not include an evacuation mechanism as is known in the art (e.g., a suction motor to draw dirt from the dirt chamber 176 of an autonomous surface cleaning apparatus 104 into the docking station 108 and an air treatment member to separate dirt from the air drawn into the docking station 108). Accordingly, the docking station 108 may be simplified and may, optionally, comprise, consist essentially of or consist of a changing station for an autonomous surface cleaning apparatus 104.

In some embodiments, the autonomous surface cleaning apparatus 104 may deposit the container 702 when the autonomous surface cleaning apparatus 104 docks at a first docking station 108. Optionally, the room 810 or a floor 812 of a condominium or of a house may contain a plurality of docking stations 108. This option may be economically attractive if the docking station 108 consists essentially of or consists of a changing station for an autonomous surface cleaning apparatus 104. The autonomous surface cleaning apparatus 104 may deposit the closed container 702 when it docks at any one of the docking stations 108, at each of the docking stations or at a docking station when the dirt chamber 176 is at least 50%, 60%, 70%, 80% or more full.

Accordingly, the autonomous surface cleaning apparatus 104 may collect dirt 730 as it cleans the floor 812. When the dirt collection chamber 176 reaches a certain level of dirt, the dirt 730 may be enclosed by the dirt enclosing member 700 in the container 702. The container 702 may be stored in the storage region 740 as the autonomous surface cleaning apparatus 104 continues to clean the floor 812. Thus, the autonomous surface cleaning apparatus 104 may continue to clean the room 810 even if the dirt collection region 176 has reached its capacity. When the autonomous surface cleaning apparatus 104 reaches a designated drop zone (near the garbage can 820, the corner 814, etc.) the container 702 may be deposited by the depositing member 720. Optionally, as described above, the container 702 may be formed as the depositing member 720 deposits the container 702 at the location 800 exterior to the autonomous surface cleaning apparatus 104. Accordingly, in operation, the autonomous surface cleaning apparatus 104 may clean a floor 812 and, whenever the autonomous surface cleaning apparatus 104 needs to be recharged or passes a docking station 108, the autonomous surface cleaning apparatus 104 may deposit a container 702. An advantage of this design is that the autonomous surface cleaning apparatus 104 may continuously clean the floor 812 without having to backtrack. A user may collect the containers which may be conveniently position by one or more docking stations 108.

By reducing the load of dirt 730 within the dirt collection region 176, the autonomous surface cleaning apparatus 104 does not need to backtrack to a particular location (such as a docking station 108), thereby reducing redundant motion and improving the battery life of the autonomous surface cleaning apparatus 104. In other words, the autonomous surface cleaning apparatus 104 may clean an entire house without the need to return to the original docking station 108 to deposit dirt. Furthermore, the cleaning efficiency of the autonomous surface cleaning apparatus 104 may be improved by depositing the closed container 702 whenever a sufficient dirt level is reached in the dirt collection chamber 176. The autonomous surface cleaning apparatus 104 may also be put into storage without the need to empty the dirt collection chamber 176, since the autonomous surface cleaning apparatus 104 can deposit the dirt automatically.

Additionally, the design of the autonomous surface cleaning apparatus 104 may be simplified since there is no longer a need for alignment with the evacuation port of the docking station 108. Instead, the docking station 108 may merely be used as a charging station. Accordingly, a simplified docking station 108 may be used, without a dirt collection region.

Optionally, a main docking station 108 may be used for receiving dirt from the autonomous surface cleaning apparatus 104, while additional, simplified charging-only docking stations 108 may be used around a house to extend the cleaning reach of the autonomous surface cleaning apparatus 104. Simplified docking stations 108 may be less expensive and smaller, providing less obtrusion on the floor 812.

While the above description describes features of example embodiments, it will be appreciated that some features and/or functions of the described embodiments are susceptible to modification without departing from the spirit and principles of operation of the described embodiments. For example, the various characteristics which are described by means of the represented embodiments or examples may be selectively combined with each other. Accordingly, what has been described above is intended to be illustrative of the claimed concept and non-limiting. It will be understood by persons skilled in the art that other variants and modifications may be made without departing from the scope of the invention as defined in the claims appended hereto. The scope of the claims should not be limited by the preferred embodiments and examples, but should be given the broadest interpretation consistent with the description as a whole. 

1. An autonomous surface cleaning apparatus comprising: (a) an air flow path extending from a dirty air inlet to a clean air outlet: (b) a suction motor positioned in the primary flow path; (c) an air treatment unit positioned in the air flow path, the air treatment unit comprising a dirt collection region in which dirt is collected; (d) a dirt enclosing member providing a first closed container in which at least some of the dirt that is collected in the dirt collection region is positioned; and, (e) a depositing member which deposits the closed container at a location that is exterior to the autonomous surface cleaning apparatus.
 2. The apparatus of claim 1 wherein the first closed container is a flexible closed container.
 3. The apparatus of claim 1 wherein the dirt enclosing member provides the first closed container and the depositing member subsequently moves the first closed container to the location that is exterior to the autonomous surface cleaning apparatus.
 4. The apparatus of claim 3 wherein the autonomous surface cleaning apparatus has a storage region in which the autonomous surface cleaning apparatus stores the first closed container as the autonomous surface cleaning apparatus continues a cleaning operation.
 5. The apparatus of claim 4 wherein the storage region is sized to receive a plurality of closed containers including the first closed container.
 6. The apparatus of claim 1 wherein the dirt enclosing member provides the first closed container as the depositing member moves the first closed container to a location that is exterior to the autonomous surface cleaning apparatus.
 7. The apparatus of claim 1 wherein the dirt collection region comprises a substrate which is used to form the first closed container.
 8. The apparatus of claim 7 wherein the dirt enclosing member forms the first closed container from the substrate and the depositing member subsequently moves the first closed container to the location that is exterior to the autonomous surface cleaning apparatus.
 9. The apparatus of claim 7 wherein the dirt enclosing member forms the first closed container from the substrate as the depositing member moves the first closed container to the location that is exterior to the autonomous surface cleaning apparatus.
 10. A method of cleaning a floor comprising: (a) having an autonomous surface cleaning apparatus clean at least a portion of the floor; (b) collecting dirt in the autonomous surface cleaning apparatus; (c) enclosing at least some of the dirt in a first closed container and depositing the first closed container at a location that is exterior to the autonomous surface cleaning apparatus.
 11. The method of claim 10 wherein the location is a corner of a room.
 12. The method of claim 10 wherein the location is adjacent a garbage can.
 13. The method of claim 10 wherein the first closed container is deposited when the autonomous surface cleaning apparatus docks at a first docking station.
 14. The method of claim 10 wherein a plurality of docking stations is provided and the autonomous surface cleaning apparatus deposits the first closed container when the autonomous surface cleaning apparatus docks at one of the docking stations.
 15. The method of claim 10 wherein at least some of the dirt is enclosed in the first closed container as the first closed container is deposited at a location that is exterior to the autonomous surface cleaning apparatus.
 16. The method of claim 10 wherein at least some of the dirt is enclosed in the first closed container and subsequently the first closed container is deposited at a location that is exterior to the autonomous surface cleaning apparatus.
 17. The method of claim 10 wherein the dirt is collected in an open container and the open container is subsequently closed to form the first closed container.
 18. The method of claim 17 wherein the open container comprises a flexible substrate and an open end of the flexible substrate is sealed to form the first closed container.
 19. The method of claim 10 wherein step (c) comprises enclosing at least some of the dirt in the first closed container and subsequently having an autonomous surface cleaning apparatus clean at least a portion of the floor while the first closed container is stored in the autonomous surface cleaning apparatus and subsequently depositing the first closed container at the location that is exterior to the autonomous surface cleaning apparatus.
 20. The method of claim 19 further comprising enclosing additional collected dirt in a second closed container and depositing the second closed container at the location that is exterior to the autonomous surface cleaning apparatus. 